forked from Archive/PX4-Autopilot
Merge pull request #1326 from hsteinhaus/drive_testing
Drive testing interface and cmd line tool
This commit is contained in:
Lorenz Meier
commit
9a92241a1a
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@ -201,6 +201,9 @@ ORB_DEFINE(telemetry_status_1, struct telemetry_status_s);
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ORB_DEFINE(telemetry_status_2, struct telemetry_status_s);
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ORB_DEFINE(telemetry_status_3, struct telemetry_status_s);
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#include "topics/test_motor.h"
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ORB_DEFINE(test_motor, struct test_motor_s);
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#include "topics/debug_key_value.h"
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ORB_DEFINE(debug_key_value, struct debug_key_value_s);
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@ -0,0 +1,70 @@
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/****************************************************************************
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*
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* Copyright (C) 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file test_motor.h
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*
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* Test a single drive motor while the vehicle is disarmed
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*
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* Publishing values to this topic causes a single motor to spin, e.g. for
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* ground test purposes. This topic will be ignored while the vehicle is armed.
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*
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*/
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#ifndef TOPIC_TEST_MOTOR_H
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#define TOPIC_TEST_MOTOR_H
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#include <stdint.h>
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#include "../uORB.h"
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#define NUM_MOTOR_OUTPUTS 8
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/**
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* @addtogroup topics
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* @{
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*/
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struct test_motor_s {
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uint64_t timestamp; /**< output timestamp in us since system boot */
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unsigned motor_number; /**< number of motor to spin */
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float value; /**< output data, in natural output units */
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};
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/**
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* @}
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*/
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/* actuator output sets; this list can be expanded as more drivers emerge */
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ORB_DECLARE(test_motor);
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#endif
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@ -0,0 +1,41 @@
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############################################################################
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#
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# Copyright (c) 2014 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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#
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# Build the motor_test tool.
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#
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MODULE_COMMAND = motor_test
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SRCS = motor_test.c
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MODULE_STACKSIZE = 4096
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@ -0,0 +1,128 @@
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/****************************************************************************
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*
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* Copyright (C) 2014 PX4 Development Team. All rights reserved.
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* Author: Holger Steinhaus <hsteinhaus@gmx.de>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file motor_test.c
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*
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* Tool for drive testing
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*/
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#include <nuttx/config.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <arch/board/board.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/topics/test_motor.h>
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#include "systemlib/systemlib.h"
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#include "systemlib/err.h"
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__EXPORT int motor_test_main(int argc, char *argv[]);
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static void motor_test(unsigned channel, float value);
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static void usage(const char *reason);
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void motor_test(unsigned channel, float value)
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{
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orb_advert_t _test_motor_pub;
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struct test_motor_s _test_motor;
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_test_motor.motor_number = channel;
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_test_motor.timestamp = hrt_absolute_time();
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_test_motor.value = value;
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if (_test_motor_pub > 0) {
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/* publish armed state */
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orb_publish(ORB_ID(test_motor), _test_motor_pub, &_test_motor);
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} else {
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/* advertise and publish */
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_test_motor_pub = orb_advertise(ORB_ID(test_motor), &_test_motor);
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}
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}
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static void usage(const char *reason)
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{
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if (reason != NULL)
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warnx("%s", reason);
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errx(1,
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"usage:\n"
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"motor_test\n"
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" -m <channel> Motor to test (0..7)\n"
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" -p <power> Power (0..100)\n");
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}
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int motor_test_main(int argc, char *argv[])
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{
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unsigned long channel, lval;
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float value;
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int ch;
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if (argc != 5) {
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usage("please specify motor and power");
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}
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while ((ch = getopt(argc, argv, "m:p:")) != EOF) {
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switch (ch) {
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case 'm':
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/* Read in channels supplied as one int and convert to mask: 1234 -> 0xF */
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channel = strtoul(optarg, NULL, 0);
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break;
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case 'p':
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/* Read in custom low value */
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lval = strtoul(optarg, NULL, 0);
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if (lval > 100)
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usage("value invalid");
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value = (float)lval/100.f;
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break;
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default:
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usage(NULL);
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}
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}
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motor_test(channel, value);
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printf("motor %d set to %.2f\n", channel, value);
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exit(0);
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}
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