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px4-firmware
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Adjust the syntax of the 'pwm' command to make it easier to use.

This commit is contained in:
px4dev 2013-03-17 12:29:18 -07:00
parent 002fb1b4ea
commit 6e71466aee
2 changed files with 43 additions and 17 deletions
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2
apps/systemcmds/pwm/Makefile
View File

@ -37,6 +37,6 @@
APPNAME = pwm
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
STACKSIZE = 4096
include $(APPDIR)/mk/app.mk

58
apps/systemcmds/pwm/pwm.c
View File

@ -71,13 +71,17 @@ usage(const char *reason)
warnx("%s", reason);
errx(1,
"usage:\n"
"pwm [-v] [-d <device>] [-u <alt_rate>] [-c <alt_channel_mask>] [arm|disarm] [<channel_value> ...]\n"
"pwm [-v] [-d <device>] [-u <alt_rate>] [-c <channel group>] [arm|disarm] [<channel_value> ...]\n"
" -v Print information about the PWM device\n"
" <device> PWM output device (defaults to " PWM_OUTPUT_DEVICE_PATH ")\n"
" <alt_rate> PWM update rate for channels in <alt_channel_mask>\n"
" <alt_channel_mask> Bitmask of channels to update at the alternate rate\n"
" <channel_group> Channel group that should update at the alternate rate (may be specified more than once)\n"
" arm | disarm Arm or disarm the ouptut\n"
" <channel_value>... PWM output values in microseconds to assign to the PWM outputs\n");
" <channel_value>... PWM output values in microseconds to assign to the PWM outputs\n"
"\n"
"When -c is specified, any channel groups not listed with -c will update at the default rate.\n"
);
}
int
@ -85,19 +89,24 @@ pwm_main(int argc, char *argv[])
{
const char *dev = PWM_OUTPUT_DEVICE_PATH;
unsigned alt_rate = 0;
uint32_t alt_channels;
uint32_t alt_channel_groups = 0;
bool alt_channels_set = false;
bool print_info = false;
int ch;
int ret;
char *ep;
unsigned group;
if (argc < 2)
usage(NULL);
while ((ch = getopt(argc, argv, "c:d:u:v")) != EOF) {
switch (ch) {
case 'c':
alt_channels = strtol(optarg, &ep, 0);
if (*ep != '\0')
usage("bad alt_channel_mask value");
group = strtoul(optarg, &ep, 0);
if ((*ep != '\0') || (group >= 32))
usage("bad channel_group value");
alt_channel_groups |= (1 << group);
alt_channels_set = true;
break;
@ -109,6 +118,7 @@ pwm_main(int argc, char *argv[])
alt_rate = strtol(optarg, &ep, 0);
if (*ep != '\0')
usage("bad alt_rate value");
break;
case 'v':
print_info = true;
@ -133,11 +143,25 @@ pwm_main(int argc, char *argv[])
err(1, "PWM_SERVO_SET_UPDATE_RATE (check rate for sanity)");
}
/* assign alternate rate to channels */
/* assign alternate rate to channel groups */
if (alt_channels_set) {
ret = ioctl(fd, PWM_SERVO_SELECT_UPDATE_RATE, alt_channels);
uint32_t mask = 0;
for (unsigned group = 0; group < 32; group++) {
if ((1 << group) & alt_channel_groups) {
uint32_t group_mask;
ret = ioctl(fd, PWM_SERVO_GET_RATEGROUP(group), (unsigned long)&group_mask);
if (ret != OK)
err(1, "PWM_SERVO_GET_RATEGROUP(%u)", group);
mask |= group_mask;
}
}
ret = ioctl(fd, PWM_SERVO_SELECT_UPDATE_RATE, mask);
if (ret != OK)
err(1, "PWM_SERVO_SELECT_UPDATE_RATE (check mask vs. device capabilities)");
err(1, "PWM_SERVO_SELECT_UPDATE_RATE");
}
/* iterate remaining arguments */
@ -177,30 +201,32 @@ pwm_main(int argc, char *argv[])
err(1, "PWM_SERVO_GET_COUNT");
/* print current servo values */
printf("PWM output values:\n");
for (unsigned i = 0; i < count; i++) {
servo_position_t spos;
ret = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&spos);
if (ret == OK) {
printf("%u: %uus\n", i, spos);
printf("channel %u: %uus\n", i, spos);
} else {
printf("%u: ERROR\n", i);
}
}
/* print rate groups */
printf("Available alt_channel_mask groups:\n");
for (unsigned i = 0; i < count; i++) {
uint32_t group_mask;
ret = ioctl(fd, PWM_SERVO_GET_RATEGROUP(i), (unsigned long)&group_mask);
if (ret != OK)
break;
if (group_mask != 0)
printf(" 0x%x", group_mask);
if (group_mask != 0) {
printf("channel group %u: channels", i);
for (unsigned j = 0; j < 32; j++)
if (group_mask & (1 << j))
printf(" %u", j);
printf("\n");
}
}
printf("\n");
fflush(stdout);
}
exit(0);