test_servo.c
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/****************************************************************************
*
* Copyright (C) 2012-2019 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 test_servo.c
* Tests the servo outputs
*/
#include <px4_platform_common/time.h>
#include <px4_platform_common/px4_config.h>
#include <sys/types.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <time.h>
#include <drivers/drv_pwm_output.h>
#include <systemlib/err.h>
#include "tests_main.h"
int test_servo(int argc, char *argv[])
{
int fd;
int result = 0;
servo_position_t data[PWM_OUTPUT_MAX_CHANNELS];
servo_position_t pos;
fd = open(PWM_OUTPUT0_DEVICE_PATH, O_RDWR);
if (fd < 0) {
printf("failed opening /dev/pwm_servo\n");
goto out;
}
result = read(fd, &data, sizeof(data));
if (result != sizeof(data)) {
printf("failed bulk-reading channel values\n");
goto out;
}
printf("Servo readback, pairs of values should match defaults\n");
unsigned servo_count;
result = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
if (result != OK) {
warnx("PWM_SERVO_GET_COUNT");
goto out;
}
for (unsigned i = 0; i < servo_count; i++) {
result = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&pos);
if (result < 0) {
printf("failed reading channel %u\n", i);
goto out;
}
printf("%u: %u %u\n", i, pos, data[i]);
}
/* tell safety that its ok to disable it with the switch */
result = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
if (result != OK) {
warnx("FAIL: PWM_SERVO_SET_ARM_OK");
goto out;
}
/* tell output device that the system is armed (it will output values if safety is off) */
result = ioctl(fd, PWM_SERVO_ARM, 0);
if (result != OK) {
warnx("FAIL: PWM_SERVO_ARM");
goto out;
}
px4_usleep(5000000);
printf("Advancing channel 0 to 1500\n");
result = ioctl(fd, PWM_SERVO_SET(0), 1500);
printf("Advancing channel 1 to 1800\n");
result = ioctl(fd, PWM_SERVO_SET(1), 1800);
out:
if (fd >= 0) {
close(fd);
}
return result;
}