forked from Archive/PX4-Autopilot
delete systemcmds/pwm
This commit is contained in:
parent
5dd1e5a018
commit
d3312f955f
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@ -771,8 +771,6 @@ void checkStatus() {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ps"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output0"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output1" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
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@ -54,8 +54,6 @@ do
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${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
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${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'
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${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'pwm info'
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${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'mavlink stop-all'
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${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'gps stop'
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@ -89,7 +89,6 @@ CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_REFLECT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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@ -31,6 +31,5 @@ CONFIG_SYSTEMCMDS_UORB=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_TOP=y
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CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_WORK_QUEUE=y
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@ -86,7 +86,6 @@ CONFIG_SYSTEMCMDS_NETMAN=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_REFLECT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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@ -63,7 +63,6 @@ CONFIG_SYSTEMCMDS_LED_CONTROL=y
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CONFIG_SYSTEMCMDS_MOTOR_TEST=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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CONFIG_SYSTEMCMDS_SHUTDOWN=y
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CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
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@ -38,7 +38,6 @@ CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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CONFIG_SYSTEMCMDS_TOP=y
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@ -37,7 +37,6 @@ CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
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@ -92,7 +92,6 @@ CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
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CONFIG_SYSTEMCMDS_TOP=y
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@ -93,7 +93,6 @@ CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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CONFIG_SYSTEMCMDS_SD_STRESS=y
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@ -87,7 +87,6 @@ CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_REFLECT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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@ -90,7 +90,6 @@ CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_REFLECT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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@ -41,6 +41,5 @@ CONFIG_SYSTEMCMDS_MFT=y
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CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_VER=y
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@ -65,7 +65,6 @@ CONFIG_SYSTEMCMDS_LED_CONTROL=y
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CONFIG_SYSTEMCMDS_MOTOR_TEST=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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CONFIG_SYSTEMCMDS_SHUTDOWN=y
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CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
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@ -85,7 +85,6 @@ CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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CONFIG_SYSTEMCMDS_SD_STRESS=y
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@ -34,4 +34,3 @@ CONFIG_MODULES_RC_UPDATE=y
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CONFIG_MODULES_SENSORS=y
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# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PWM=y
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@ -78,7 +78,6 @@ CONFIG_SYSTEMCMDS_MOTOR_TEST=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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CONFIG_SYSTEMCMDS_SD_STRESS=y
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@ -95,7 +95,6 @@ CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_REFLECT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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@ -73,7 +73,6 @@ CONFIG_SYSTEMCMDS_MTD=n
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=n
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CONFIG_SYSTEMCMDS_SD_STRESS=n
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@ -72,7 +72,6 @@ CONFIG_SYSTEMCMDS_MTD=n
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=n
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CONFIG_SYSTEMCMDS_SD_STRESS=n
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@ -72,7 +72,6 @@ CONFIG_SYSTEMCMDS_MTD=n
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=n
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CONFIG_SYSTEMCMDS_SD_STRESS=n
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@ -91,7 +91,6 @@ CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_REFLECT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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@ -86,7 +86,6 @@ CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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CONFIG_SYSTEMCMDS_SD_STRESS=y
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@ -87,7 +87,6 @@ CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_REFLECT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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@ -88,7 +88,6 @@ CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_REFLECT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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@ -88,7 +88,6 @@ CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_REFLECT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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@ -87,7 +87,6 @@ CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_REFLECT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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@ -88,7 +88,6 @@ CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_REFLECT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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@ -87,7 +87,6 @@ CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_REFLECT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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@ -89,7 +89,6 @@ CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_REFLECT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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@ -89,7 +89,6 @@ CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_REFLECT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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@ -83,7 +83,6 @@ CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_REFLECT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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@ -88,7 +88,6 @@ CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_REFLECT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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@ -60,7 +60,6 @@ CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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CONFIG_SYSTEMCMDS_SD_STRESS=y
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@ -21,7 +21,6 @@ CONFIG_SYSTEMCMDS_LED_CONTROL=y
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CONFIG_SYSTEMCMDS_MFT=y
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CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
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CONFIG_SYSTEMCMDS_TOP=y
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@ -35,4 +35,3 @@ CONFIG_MODULES_SENSORS=y
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# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
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CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PWM=y
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@ -40,7 +40,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
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CONFIG_SYSTEMCMDS_MFT=y
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CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
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CONFIG_SYSTEMCMDS_VER=y
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@ -92,7 +92,6 @@ CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_REFLECT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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@ -93,7 +93,6 @@ CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_REFLECT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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@ -90,7 +90,6 @@ CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_REFLECT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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@ -96,7 +96,6 @@ CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_REFLECT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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@ -99,7 +99,6 @@ CONFIG_SYSTEMCMDS_NETMAN=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_REFLECT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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@ -77,7 +77,6 @@ CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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CONFIG_SYSTEMCMDS_SERIAL_TEST=y
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@ -88,7 +88,6 @@ CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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CONFIG_SYSTEMCMDS_SD_STRESS=y
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@ -84,7 +84,6 @@ CONFIG_SYSTEMCMDS_NETMAN=y
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CONFIG_SYSTEMCMDS_NSHTERM=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_PWM=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
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CONFIG_SYSTEMCMDS_TOP=y
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@ -62,7 +62,6 @@ CONFIG_SYSTEMCMDS_LED_CONTROL=y
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CONFIG_SYSTEMCMDS_MOTOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_PWM=y
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
CONFIG_SYSTEMCMDS_SHUTDOWN=y
|
||||
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
|
||||
|
|
|
@ -51,7 +51,6 @@ CONFIG_SYSTEMCMDS_LED_CONTROL=y
|
|||
CONFIG_SYSTEMCMDS_MOTOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_PWM=y
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
CONFIG_SYSTEMCMDS_SHUTDOWN=y
|
||||
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
|
||||
|
|
|
@ -41,7 +41,6 @@ CONFIG_SYSTEMCMDS_MOTOR_TEST=y
|
|||
CONFIG_SYSTEMCMDS_NSHTERM=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_PWM=y
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_REFLECT=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
|
|
|
@ -59,7 +59,6 @@ CONFIG_SYSTEMCMDS_DYN=y
|
|||
CONFIG_SYSTEMCMDS_LED_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_PWM=y
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
CONFIG_SYSTEMCMDS_SHUTDOWN=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
|
|
|
@ -91,7 +91,6 @@ CONFIG_SYSTEMCMDS_NETMAN=y
|
|||
CONFIG_SYSTEMCMDS_NSHTERM=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_PWM=y
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_REFLECT=y
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
|
|
|
@ -51,7 +51,6 @@ CONFIG_SYSTEMCMDS_MOTOR_TEST=y
|
|||
CONFIG_SYSTEMCMDS_NSHTERM=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_PWM=y
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_REFLECT=y
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
|
|
|
@ -74,7 +74,6 @@ CONFIG_SYSTEMCMDS_MTD=y
|
|||
CONFIG_SYSTEMCMDS_NSHTERM=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_PWM=y
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_REFLECT=y
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
|
|
|
@ -78,8 +78,6 @@ mavlink status streams
|
|||
sleep 1
|
||||
param status
|
||||
sleep 1
|
||||
pwm info
|
||||
sleep 1
|
||||
sensors status
|
||||
sleep 1
|
||||
perf
|
||||
|
|
|
@ -1,42 +0,0 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
px4_add_module(
|
||||
MODULE systemcmds__pwm
|
||||
MAIN pwm
|
||||
COMPILE_FLAGS
|
||||
-Wno-array-bounds
|
||||
SRCS
|
||||
pwm.cpp
|
||||
DEPENDS
|
||||
)
|
||||
|
|
@ -1,12 +0,0 @@
|
|||
menuconfig SYSTEMCMDS_PWM
|
||||
bool "pwm"
|
||||
default n
|
||||
---help---
|
||||
Enable support for pwm
|
||||
|
||||
menuconfig USER_PWM
|
||||
bool "pwm running as userspace module"
|
||||
default n
|
||||
depends on BOARD_PROTECTED && SYSTEMCMDS_PWM
|
||||
---help---
|
||||
Put pwm in userspace memory
|
|
@ -1,615 +0,0 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013, 2014, 2017, 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file pwm.cpp
|
||||
*
|
||||
* PWM servo output configuration and monitoring tool.
|
||||
*/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/tasks.h>
|
||||
#include <px4_platform_common/posix.h>
|
||||
#include <px4_platform_common/getopt.h>
|
||||
#include <px4_platform_common/defines.h>
|
||||
#include <px4_platform_common/log.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
#include <px4_platform_common/cli.h>
|
||||
|
||||
#include <stdio.h>
|
||||
#include <inttypes.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <stdbool.h>
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <poll.h>
|
||||
#include <sys/ioctl.h>
|
||||
#include <sys/stat.h>
|
||||
|
||||
#ifdef __PX4_NUTTX
|
||||
#include <nuttx/fs/ioctl.h>
|
||||
#endif
|
||||
|
||||
#include "systemlib/err.h"
|
||||
#include <parameters/param.h>
|
||||
#include "drivers/drv_pwm_output.h"
|
||||
|
||||
static void usage(const char *reason);
|
||||
__BEGIN_DECLS
|
||||
__EXPORT int pwm_main(int argc, char *argv[]);
|
||||
__END_DECLS
|
||||
|
||||
|
||||
static void
|
||||
usage(const char *reason)
|
||||
{
|
||||
if (reason != nullptr) {
|
||||
PX4_WARN("%s", reason);
|
||||
}
|
||||
|
||||
PRINT_MODULE_DESCRIPTION(
|
||||
R"DESCR_STR(
|
||||
### Description
|
||||
This command is used to configure PWM outputs for servo and ESC control.
|
||||
|
||||
The default device `/dev/pwm_output0` are the Main channels, AUX channels are on `/dev/pwm_output1` (`-d` parameter).
|
||||
|
||||
It is used in the startup script to make sure the PWM parameters (`PWM_*`) are applied (or the ones provided
|
||||
by the airframe config if specified). `pwm status` shows the current settings (the trim value is an offset
|
||||
and configured with `PWM_MAIN_TRIMx` and `PWM_AUX_TRIMx`).
|
||||
|
||||
The disarmed value should be set such that the motors don't spin (it's also used for the kill switch), at the
|
||||
minimum value they should spin.
|
||||
|
||||
Channels are assigned to a group. Due to hardware limitations, the update rate can only be set per group. Use
|
||||
`pwm status` to display the groups. If the `-c` argument is used, all channels of any included group must be included.
|
||||
|
||||
The parameters `-p` and `-r` can be set to a parameter instead of specifying an integer: use -p p:PWM_MIN for example.
|
||||
|
||||
Note that in OneShot mode, the PWM range [1000, 2000] is automatically mapped to [125, 250].
|
||||
|
||||
### Examples
|
||||
|
||||
Set the PWM rate for all channels to 400 Hz:
|
||||
$ pwm rate -a -r 400
|
||||
|
||||
Arm and set the outputs of channels 1 and 3 to a PWM value to 1200 us:
|
||||
$ pwm min -c 13 -p 1200
|
||||
|
||||
)DESCR_STR");
|
||||
|
||||
|
||||
PRINT_MODULE_USAGE_NAME("pwm", "command");
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("arm", "Arm output");
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("disarm", "Disarm output");
|
||||
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("status", "Print current configuration of all channels");
|
||||
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("rate", "Configure PWM rates");
|
||||
PRINT_MODULE_USAGE_PARAM_INT('r', -1, 50, 400, "PWM Rate in Hz (0 = Oneshot, otherwise 50 to 400Hz)", false);
|
||||
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("oneshot", "Configure Oneshot125 (rate is set to 0)");
|
||||
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("min", "Set Minimum PWM value");
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("max", "Set Maximum PWM value");
|
||||
|
||||
PRINT_MODULE_USAGE_PARAM_COMMENT("The commands 'min' and 'max' require a PWM value:");
|
||||
PRINT_MODULE_USAGE_PARAM_INT('p', -1, 0, 4000, "PWM value (eg. 1100)", false);
|
||||
|
||||
PRINT_MODULE_USAGE_PARAM_COMMENT("The commands 'rate', 'oneshot', 'min', 'max' "
|
||||
"additionally require to specify the channels with one of the following commands:");
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('c', nullptr, nullptr, "select channels in the form: 1234 (1 digit per channel, 1=first)",
|
||||
true);
|
||||
PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 4096, "Select channels via bitmask (eg. 0xF, 3)", true);
|
||||
PRINT_MODULE_USAGE_PARAM_INT('g', -1, 0, 10, "Select channels by group (eg. 0, 1, 2. use 'pwm status' to show groups)",
|
||||
true);
|
||||
PRINT_MODULE_USAGE_PARAM_FLAG('a', "Select all channels", true);
|
||||
|
||||
PRINT_MODULE_USAGE_PARAM_COMMENT("These parameters apply to all commands:");
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/pwm_output0", "<file:dev>", "Select PWM output device", true);
|
||||
PRINT_MODULE_USAGE_PARAM_FLAG('v', "Verbose output", true);
|
||||
PRINT_MODULE_USAGE_PARAM_FLAG('e', "Exit with 1 instead of 0 on error", true);
|
||||
|
||||
}
|
||||
|
||||
int
|
||||
pwm_main(int argc, char *argv[])
|
||||
{
|
||||
const char *dev = PWM_OUTPUT0_DEVICE_PATH;
|
||||
int alt_rate = -1; // Default to indicate not set.
|
||||
uint32_t alt_channel_groups = 0;
|
||||
bool alt_channels_set = false;
|
||||
bool print_verbose = false;
|
||||
bool error_on_warn = false;
|
||||
bool oneshot = false;
|
||||
int ch;
|
||||
int ret;
|
||||
|
||||
char *ep;
|
||||
uint32_t set_mask = 0;
|
||||
unsigned group;
|
||||
unsigned long channels;
|
||||
unsigned single_ch = 0;
|
||||
int pwm_value = 0;
|
||||
|
||||
if (argc < 2) {
|
||||
usage(nullptr);
|
||||
return 1;
|
||||
}
|
||||
|
||||
int myoptind = 1;
|
||||
const char *myoptarg = nullptr;
|
||||
|
||||
while ((ch = px4_getopt(argc, argv, "d:vec:g:m:ap:r:", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
|
||||
case 'd':
|
||||
if (nullptr == strstr(myoptarg, "/dev/")) {
|
||||
PX4_WARN("device %s not valid", myoptarg);
|
||||
usage(nullptr);
|
||||
return 1;
|
||||
}
|
||||
|
||||
dev = myoptarg;
|
||||
break;
|
||||
|
||||
case 'v':
|
||||
print_verbose = true;
|
||||
break;
|
||||
|
||||
case 'e':
|
||||
error_on_warn = true;
|
||||
break;
|
||||
|
||||
case 'c':
|
||||
/* Read in channels supplied as one int and convert to mask: 1234 -> 0xF */
|
||||
channels = strtoul(myoptarg, &ep, 0);
|
||||
|
||||
while ((single_ch = channels % 10)) {
|
||||
|
||||
set_mask |= 1 << (single_ch - 1);
|
||||
channels /= 10;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case 'g':
|
||||
group = strtoul(myoptarg, &ep, 0);
|
||||
|
||||
if ((*ep != '\0') || (group >= 32)) {
|
||||
usage("bad channel_group value");
|
||||
return 1;
|
||||
}
|
||||
|
||||
alt_channel_groups |= (1 << group);
|
||||
alt_channels_set = true;
|
||||
break;
|
||||
|
||||
case 'm':
|
||||
/* Read in mask directly */
|
||||
set_mask = strtoul(myoptarg, &ep, 0);
|
||||
|
||||
if (*ep != '\0') {
|
||||
usage("BAD set_mask VAL");
|
||||
return 1;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case 'a':
|
||||
for (unsigned i = 0; i < PWM_OUTPUT_MAX_CHANNELS; i++) {
|
||||
set_mask |= 1 << i;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case 'p':
|
||||
if (px4_get_parameter_value(myoptarg, pwm_value) != 0) {
|
||||
PX4_ERR("CLI argument parsing for PWM value failed");
|
||||
return 1;
|
||||
}
|
||||
break;
|
||||
|
||||
case 'r':
|
||||
if (px4_get_parameter_value(myoptarg, alt_rate) != 0) {
|
||||
PX4_ERR("CLI argument parsing for PWM rate failed");
|
||||
return 1;
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
usage(nullptr);
|
||||
return 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (myoptind >= argc) {
|
||||
usage(nullptr);
|
||||
return 1;
|
||||
}
|
||||
|
||||
const char *command = argv[myoptind];
|
||||
|
||||
if (print_verbose && set_mask > 0) {
|
||||
PX4_INFO("Channels: ");
|
||||
printf(" ");
|
||||
|
||||
for (unsigned i = 0; i < PWM_OUTPUT_MAX_CHANNELS; i++) {
|
||||
if (set_mask & 1 << i) {
|
||||
printf("%u ", i + 1);
|
||||
}
|
||||
}
|
||||
|
||||
printf("\n");
|
||||
}
|
||||
|
||||
/* open for ioctl only */
|
||||
int fd = px4_open(dev, 0);
|
||||
|
||||
if (fd < 0) {
|
||||
PX4_ERR("can't open %s", dev);
|
||||
return 1;
|
||||
}
|
||||
|
||||
/* get the number of servo channels */
|
||||
unsigned servo_count;
|
||||
ret = px4_ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
|
||||
|
||||
if (ret != OK) {
|
||||
PX4_ERR("PWM_SERVO_GET_COUNT");
|
||||
return error_on_warn;
|
||||
}
|
||||
|
||||
oneshot = !strcmp(command, "oneshot");
|
||||
|
||||
if (!strcmp(command, "arm")) {
|
||||
/* tell safety that its ok to disable it with the switch */
|
||||
ret = px4_ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
|
||||
|
||||
if (ret != OK) {
|
||||
err(1, "PWM_SERVO_SET_ARM_OK");
|
||||
}
|
||||
|
||||
/* tell IO that the system is armed (it will output values if safety is off) */
|
||||
ret = px4_ioctl(fd, PWM_SERVO_ARM, 0);
|
||||
|
||||
if (ret != OK) {
|
||||
err(1, "PWM_SERVO_ARM");
|
||||
}
|
||||
|
||||
if (print_verbose) {
|
||||
PX4_INFO("Outputs armed");
|
||||
}
|
||||
|
||||
return 0;
|
||||
|
||||
} else if (!strcmp(command, "disarm")) {
|
||||
/* disarm, but do not revoke the SET_ARM_OK flag */
|
||||
ret = px4_ioctl(fd, PWM_SERVO_DISARM, 0);
|
||||
|
||||
if (ret != OK) {
|
||||
err(1, "PWM_SERVO_DISARM");
|
||||
}
|
||||
|
||||
if (print_verbose) {
|
||||
PX4_INFO("Outputs disarmed");
|
||||
}
|
||||
|
||||
return 0;
|
||||
|
||||
} else if (oneshot || !strcmp(command, "rate")) {
|
||||
|
||||
/* Change alternate PWM rate or set oneshot
|
||||
* Either the "oneshot" command was used
|
||||
* and/OR -r was provided on command line and has changed the alt_rate
|
||||
* to the non default of -1, so we will issue the PWM_SERVO_SET_UPDATE_RATE
|
||||
* ioctl
|
||||
*/
|
||||
|
||||
if (oneshot || alt_rate >= 0) {
|
||||
ret = px4_ioctl(fd, PWM_SERVO_SET_UPDATE_RATE, oneshot ? 0 : alt_rate);
|
||||
|
||||
if (ret != OK) {
|
||||
PX4_ERR("PWM_SERVO_SET_UPDATE_RATE (check rate for sanity)");
|
||||
return error_on_warn;
|
||||
}
|
||||
}
|
||||
|
||||
/* directly supplied channel mask */
|
||||
if (set_mask > 0) {
|
||||
ret = px4_ioctl(fd, PWM_SERVO_SET_SELECT_UPDATE_RATE, set_mask);
|
||||
|
||||
if (ret != OK) {
|
||||
PX4_ERR("PWM_SERVO_SET_SELECT_UPDATE_RATE");
|
||||
return error_on_warn;
|
||||
}
|
||||
}
|
||||
|
||||
/* assign alternate rate to channel groups */
|
||||
if (alt_channels_set) {
|
||||
uint32_t mask = 0;
|
||||
|
||||
for (group = 0; group < 32; group++) {
|
||||
if ((1 << group) & alt_channel_groups) {
|
||||
uint32_t group_mask;
|
||||
|
||||
ret = px4_ioctl(fd, PWM_SERVO_GET_RATEGROUP(group), (unsigned long)&group_mask);
|
||||
|
||||
if (ret != OK) {
|
||||
PX4_ERR("PWM_SERVO_GET_RATEGROUP(%u)", group);
|
||||
return error_on_warn;
|
||||
}
|
||||
|
||||
mask |= group_mask;
|
||||
}
|
||||
}
|
||||
|
||||
ret = px4_ioctl(fd, PWM_SERVO_SET_SELECT_UPDATE_RATE, mask);
|
||||
|
||||
if (ret != OK) {
|
||||
PX4_ERR("PWM_SERVO_SET_SELECT_UPDATE_RATE");
|
||||
return error_on_warn;
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
|
||||
} else if (!strcmp(command, "min")) {
|
||||
|
||||
if (set_mask == 0) {
|
||||
usage("min: no channels set");
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (pwm_value < 0) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (pwm_value == 0) {
|
||||
usage("min: no PWM value provided");
|
||||
return 1;
|
||||
}
|
||||
|
||||
struct pwm_output_values pwm_values {};
|
||||
|
||||
pwm_values.channel_count = servo_count;
|
||||
|
||||
/* first get current state before modifying it */
|
||||
ret = px4_ioctl(fd, PWM_SERVO_GET_MIN_PWM, (long unsigned int)&pwm_values);
|
||||
|
||||
if (ret != OK) {
|
||||
PX4_ERR("failed get min values");
|
||||
return 1;
|
||||
}
|
||||
|
||||
for (unsigned i = 0; i < servo_count; i++) {
|
||||
if (set_mask & 1 << i) {
|
||||
pwm_values.values[i] = pwm_value;
|
||||
|
||||
if (print_verbose) {
|
||||
PX4_INFO("Channel %d: min PWM: %d", i + 1, pwm_value);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (pwm_values.channel_count == 0) {
|
||||
usage("min: no channels provided");
|
||||
return 1;
|
||||
|
||||
} else {
|
||||
|
||||
ret = px4_ioctl(fd, PWM_SERVO_SET_MIN_PWM, (long unsigned int)&pwm_values);
|
||||
|
||||
if (ret != OK) {
|
||||
PX4_ERR("failed setting min values (%d)", ret);
|
||||
return error_on_warn;
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
|
||||
} else if (!strcmp(command, "max")) {
|
||||
|
||||
if (set_mask == 0) {
|
||||
usage("no channels set");
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (pwm_value < 0) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (pwm_value == 0) {
|
||||
usage("no PWM value provided");
|
||||
return 1;
|
||||
}
|
||||
|
||||
struct pwm_output_values pwm_values {};
|
||||
|
||||
pwm_values.channel_count = servo_count;
|
||||
|
||||
/* first get current state before modifying it */
|
||||
ret = px4_ioctl(fd, PWM_SERVO_GET_MAX_PWM, (long unsigned int)&pwm_values);
|
||||
|
||||
if (ret != OK) {
|
||||
PX4_ERR("failed get max values");
|
||||
return 1;
|
||||
}
|
||||
|
||||
for (unsigned i = 0; i < servo_count; i++) {
|
||||
if (set_mask & 1 << i) {
|
||||
pwm_values.values[i] = pwm_value;
|
||||
|
||||
if (print_verbose) {
|
||||
PX4_INFO("Channel %d: max PWM: %d", i + 1, pwm_value);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (pwm_values.channel_count == 0) {
|
||||
usage("max: no PWM channels");
|
||||
return 1;
|
||||
|
||||
} else {
|
||||
|
||||
ret = px4_ioctl(fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_values);
|
||||
|
||||
if (ret != OK) {
|
||||
PX4_ERR("failed setting max values (%d)", ret);
|
||||
return error_on_warn;
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
|
||||
} else if (!strcmp(command, "status") || !strcmp(command, "info")) {
|
||||
|
||||
printf("device: %s\n", dev);
|
||||
|
||||
uint32_t info_default_rate;
|
||||
uint32_t info_alt_rate;
|
||||
uint32_t info_alt_rate_mask;
|
||||
|
||||
ret = px4_ioctl(fd, PWM_SERVO_GET_DEFAULT_UPDATE_RATE, (unsigned long)&info_default_rate);
|
||||
|
||||
if (ret != OK) {
|
||||
PX4_ERR("PWM_SERVO_GET_DEFAULT_UPDATE_RATE");
|
||||
return 1;
|
||||
}
|
||||
|
||||
ret = px4_ioctl(fd, PWM_SERVO_GET_UPDATE_RATE, (unsigned long)&info_alt_rate);
|
||||
|
||||
if (ret != OK) {
|
||||
PX4_ERR("PWM_SERVO_GET_UPDATE_RATE");
|
||||
return 1;
|
||||
}
|
||||
|
||||
ret = px4_ioctl(fd, PWM_SERVO_GET_SELECT_UPDATE_RATE, (unsigned long)&info_alt_rate_mask);
|
||||
|
||||
if (ret != OK) {
|
||||
PX4_ERR("PWM_SERVO_GET_SELECT_UPDATE_RATE");
|
||||
return 1;
|
||||
}
|
||||
|
||||
struct pwm_output_values failsafe_pwm;
|
||||
|
||||
struct pwm_output_values disarmed_pwm;
|
||||
|
||||
struct pwm_output_values min_pwm;
|
||||
|
||||
struct pwm_output_values max_pwm;
|
||||
|
||||
ret = px4_ioctl(fd, PWM_SERVO_GET_FAILSAFE_PWM, (unsigned long)&failsafe_pwm);
|
||||
|
||||
if (ret != OK) {
|
||||
PX4_ERR("PWM_SERVO_GET_FAILSAFE_PWM");
|
||||
return 1;
|
||||
}
|
||||
|
||||
ret = px4_ioctl(fd, PWM_SERVO_GET_DISARMED_PWM, (unsigned long)&disarmed_pwm);
|
||||
|
||||
if (ret != OK) {
|
||||
PX4_ERR("PWM_SERVO_GET_DISARMED_PWM");
|
||||
return 1;
|
||||
}
|
||||
|
||||
ret = px4_ioctl(fd, PWM_SERVO_GET_MIN_PWM, (unsigned long)&min_pwm);
|
||||
|
||||
if (ret != OK) {
|
||||
PX4_ERR("PWM_SERVO_GET_MIN_PWM");
|
||||
return 1;
|
||||
}
|
||||
|
||||
ret = px4_ioctl(fd, PWM_SERVO_GET_MAX_PWM, (unsigned long)&max_pwm);
|
||||
|
||||
if (ret != OK) {
|
||||
PX4_ERR("PWM_SERVO_GET_MAX_PWM");
|
||||
return 1;
|
||||
}
|
||||
|
||||
/* print current servo values */
|
||||
for (unsigned i = 0; i < servo_count; i++) {
|
||||
servo_position_t spos;
|
||||
|
||||
ret = px4_ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&spos);
|
||||
|
||||
if (ret == OK) {
|
||||
printf("channel %u: %" PRIu16 " us", i + 1, spos);
|
||||
|
||||
if (info_alt_rate_mask & (1 << i)) {
|
||||
printf(" (alternative rate: %" PRIu32 " Hz", info_alt_rate);
|
||||
|
||||
} else {
|
||||
printf(" (default rate: %" PRIu32 " Hz", info_default_rate);
|
||||
}
|
||||
|
||||
|
||||
printf(" failsafe: %d, disarmed: %" PRIu16 " us, min: %" PRIu16 " us, max: %" PRIu16 " us)",
|
||||
failsafe_pwm.values[i], disarmed_pwm.values[i], min_pwm.values[i], max_pwm.values[i]);
|
||||
printf("\n");
|
||||
|
||||
} else {
|
||||
printf("%u: ERROR\n", i);
|
||||
}
|
||||
}
|
||||
|
||||
/* print rate groups */
|
||||
for (unsigned i = 0; i < servo_count; i++) {
|
||||
uint32_t group_mask;
|
||||
|
||||
ret = px4_ioctl(fd, PWM_SERVO_GET_RATEGROUP(i), (unsigned long)&group_mask);
|
||||
|
||||
if (ret != OK) {
|
||||
break;
|
||||
}
|
||||
|
||||
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 + 1);
|
||||
}
|
||||
}
|
||||
|
||||
printf("\n");
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
usage(nullptr);
|
||||
return 0;
|
||||
}
|
Loading…
Reference in New Issue