forked from Archive/PX4-Autopilot
133 lines
4.5 KiB
C
133 lines
4.5 KiB
C
/****************************************************************************
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* px4/sensors/test_hrt.c
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*
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* Copyright (C) 2012 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 NuttX 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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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <debug.h>
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#include <time.h>
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#include <arch/board/board.h>
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#include <drivers/drv_pwm_output.h>
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#include <nuttx/spi.h>
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#include "tests.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Private Types
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****************************************************************************/
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Private Data
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****************************************************************************/
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/****************************************************************************
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* Public Data
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****************************************************************************/
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: test_servo
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****************************************************************************/
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int test_servo(int argc, char *argv[])
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{
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int fd, result;
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servo_position_t data[PWM_OUTPUT_MAX_CHANNELS];
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servo_position_t pos;
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fd = open(PWM_OUTPUT_DEVICE_PATH, O_RDWR);
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if (fd < 0) {
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printf("failed opening /dev/pwm_servo\n");
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goto out;
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}
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result = read(fd, &data, sizeof(data));
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if (result != sizeof(data)) {
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printf("failed bulk-reading channel values\n");
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goto out;
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}
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printf("Servo readback, pairs of values should match defaults\n");
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for (unsigned i = 0; i < PWM_OUTPUT_MAX_CHANNELS; i++) {
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result = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&pos);
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if (result < 0) {
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printf("failed reading channel %u\n", i);
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goto out;
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}
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printf("%u: %u %u\n", i, pos, data[i]);
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}
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printf("Servos arming at default values\n");
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result = ioctl(fd, PWM_SERVO_ARM, 0);
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usleep(5000000);
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printf("Advancing channel 0 to 1500\n");
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result = ioctl(fd, PWM_SERVO_SET(0), 1500);
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out:
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return 0;
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}
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