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px4-firmware
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delete systemcmds/pwm

This commit is contained in:
Daniel Agar 2022-08-24 15:40:17 -04:00
parent 5dd1e5a018
commit d3312f955f
56 changed files with 0 additions and 725 deletions
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2
.ci/Jenkinsfile-hardware
View File

@ -771,8 +771,6 @@ void checkStatus() {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ps"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output0"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output1" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'

2
Tools/HIL/test_airframes.sh
View File

@ -54,8 +54,6 @@ do
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'pwm info'
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'mavlink stop-all'
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'gps stop'

1
boards/airmind/mindpx-v2/default.px4board
View File

@ -89,7 +89,6 @@ 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

1
boards/ark/cannode/default.px4board
View File

@ -31,6 +31,5 @@ CONFIG_SYSTEMCMDS_UORB=y
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_TOP=y
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
CONFIG_SYSTEMCMDS_PWM=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_WORK_QUEUE=y

1
boards/av/x-v1/default.px4board
View File

@ -86,7 +86,6 @@ 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

1
boards/beaglebone/blue/default.px4board
View File

@ -63,7 +63,6 @@ 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

1
boards/bitcraze/crazyflie/default.px4board
View File

@ -38,7 +38,6 @@ 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_SD_BENCH=y
CONFIG_SYSTEMCMDS_TOP=y

1
boards/bitcraze/crazyflie21/default.px4board
View File

@ -37,7 +37,6 @@ 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_SD_BENCH=y
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y

1
boards/cuav/nora/default.px4board
View File

@ -92,7 +92,6 @@ 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_SYSTEM_TIME=y
CONFIG_SYSTEMCMDS_TOP=y

1
boards/cuav/x7pro/default.px4board
View File

@ -93,7 +93,6 @@ 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_SD_BENCH=y
CONFIG_SYSTEMCMDS_SD_STRESS=y

1
boards/cubepilot/cubeorange/default.px4board
View File

@ -87,7 +87,6 @@ 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

1
boards/cubepilot/cubeyellow/default.px4board
View File

@ -90,7 +90,6 @@ 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

1
boards/diatone/mamba-f405-mk2/default.px4board
View File

@ -41,6 +41,5 @@ CONFIG_SYSTEMCMDS_MFT=y
CONFIG_SYSTEMCMDS_MTD=y
CONFIG_SYSTEMCMDS_NSHTERM=y
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_PWM=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_VER=y

1
boards/emlid/navio2/default.px4board
View File

@ -65,7 +65,6 @@ 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

1
boards/holybro/durandal-v1/default.px4board
View File

@ -85,7 +85,6 @@ 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_SD_BENCH=y
CONFIG_SYSTEMCMDS_SD_STRESS=y

1
boards/holybro/kakutef7/default.px4board
View File

@ -34,4 +34,3 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_PWM=y

1
boards/holybro/kakuteh7/default.px4board
View File

@ -78,7 +78,6 @@ 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_SD_BENCH=y
CONFIG_SYSTEMCMDS_SD_STRESS=y

1
boards/holybro/pix32v5/default.px4board
View File

@ -95,7 +95,6 @@ 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

1
boards/matek/h743-mini/default.px4board
View File

@ -73,7 +73,6 @@ CONFIG_SYSTEMCMDS_MTD=n
CONFIG_SYSTEMCMDS_NSHTERM=y
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_PERF=y
CONFIG_SYSTEMCMDS_PWM=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_SD_BENCH=n
CONFIG_SYSTEMCMDS_SD_STRESS=n

1
boards/matek/h743-slim/default.px4board
View File

@ -72,7 +72,6 @@ CONFIG_SYSTEMCMDS_MTD=n
CONFIG_SYSTEMCMDS_NSHTERM=y
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_PERF=y
CONFIG_SYSTEMCMDS_PWM=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_SD_BENCH=n
CONFIG_SYSTEMCMDS_SD_STRESS=n

1
boards/matek/h743/default.px4board
View File

@ -72,7 +72,6 @@ CONFIG_SYSTEMCMDS_MTD=n
CONFIG_SYSTEMCMDS_NSHTERM=y
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_PERF=y
CONFIG_SYSTEMCMDS_PWM=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_SD_BENCH=n
CONFIG_SYSTEMCMDS_SD_STRESS=n

1
boards/modalai/fc-v1/default.px4board
View File

@ -91,7 +91,6 @@ 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

1
boards/modalai/fc-v2/default.px4board
View File

@ -86,7 +86,6 @@ 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_SD_BENCH=y
CONFIG_SYSTEMCMDS_SD_STRESS=y

1
boards/mro/ctrl-zero-classic/default.px4board
View File

@ -87,7 +87,6 @@ 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

1
boards/mro/ctrl-zero-f7-oem/default.px4board
View File

@ -88,7 +88,6 @@ 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

1
boards/mro/ctrl-zero-f7/default.px4board
View File

@ -88,7 +88,6 @@ 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

1
boards/mro/ctrl-zero-h7-oem/default.px4board
View File

@ -87,7 +87,6 @@ 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

1
boards/mro/ctrl-zero-h7/default.px4board
View File

@ -88,7 +88,6 @@ 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

1
boards/mro/pixracerpro/default.px4board
View File

@ -87,7 +87,6 @@ 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

1
boards/mro/x21-777/default.px4board
View File

@ -89,7 +89,6 @@ 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

1
boards/mro/x21/default.px4board
View File

@ -89,7 +89,6 @@ 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

1
boards/nxp/fmuk66-e/default.px4board
View File

@ -83,7 +83,6 @@ 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

1
boards/nxp/fmuk66-v3/default.px4board
View File

@ -88,7 +88,6 @@ 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

1
boards/nxp/fmurt1062-v1/default.px4board
View File

@ -60,7 +60,6 @@ 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_SD_BENCH=y
CONFIG_SYSTEMCMDS_SD_STRESS=y

1
boards/nxp/ucans32k146/default.px4board
View File

@ -21,7 +21,6 @@ CONFIG_SYSTEMCMDS_LED_CONTROL=y
CONFIG_SYSTEMCMDS_MFT=y
CONFIG_SYSTEMCMDS_MTD=y
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_PWM=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
CONFIG_SYSTEMCMDS_TOP=y

1
boards/omnibus/f4sd/default.px4board
View File

@ -35,4 +35,3 @@ CONFIG_MODULES_SENSORS=y
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_PWM=y

1
boards/px4/fmu-v2/default.px4board
View File

@ -40,7 +40,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
CONFIG_SYSTEMCMDS_MFT=y
CONFIG_SYSTEMCMDS_MTD=y
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_PWM=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
CONFIG_SYSTEMCMDS_VER=y

1
boards/px4/fmu-v3/default.px4board
View File

@ -92,7 +92,6 @@ 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

1
boards/px4/fmu-v4/default.px4board
View File

@ -93,7 +93,6 @@ 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

1
boards/px4/fmu-v4pro/default.px4board
View File

@ -90,7 +90,6 @@ 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

1
boards/px4/fmu-v5/default.px4board
View File

@ -96,7 +96,6 @@ 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

1
boards/px4/fmu-v5x/default.px4board
View File

@ -99,7 +99,6 @@ 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

1
boards/px4/fmu-v6c/default.px4board
View File

@ -77,7 +77,6 @@ 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_SD_BENCH=y
CONFIG_SYSTEMCMDS_SERIAL_TEST=y

1
boards/px4/fmu-v6u/default.px4board
View File

@ -88,7 +88,6 @@ 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_SD_BENCH=y
CONFIG_SYSTEMCMDS_SD_STRESS=y

1
boards/px4/fmu-v6x/default.px4board
View File

@ -84,7 +84,6 @@ 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_SYSTEM_TIME=y
CONFIG_SYSTEMCMDS_TOP=y

1
boards/px4/raspberrypi/default.px4board
View File

@ -62,7 +62,6 @@ 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

1
boards/px4/sitl/default.px4board
View File

@ -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

1
boards/raspberrypi/pico/default.px4board
View File

@ -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

1
boards/scumaker/pilotpi/default.px4board
View File

@ -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

1
boards/sky-drones/smartap-airlink/default.px4board
View File

@ -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

1
boards/spracing/h7extreme/default.px4board
View File

@ -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

1
boards/uvify/core/default.px4board
View File

@ -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

2
posix-configs/rpi/px4_test.config
View File

@ -78,8 +78,6 @@ mavlink status streams
sleep 1
param status
sleep 1
pwm info
sleep 1
sensors status
sleep 1
perf

42
src/systemcmds/pwm/CMakeLists.txt
View File

@ -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
)

12
src/systemcmds/pwm/Kconfig
View File

@ -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

615
src/systemcmds/pwm/pwm.cpp
View File

@ -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;
}