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pwm:Add test mode

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This commit is contained in:
David Sidrane
2018-09-12 09:10:10 -07:00
committed by Lorenz Meier
parent 73b9f09920
commit 49f1540c30
1 changed files with 18 additions and 4 deletions
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22
src/systemcmds/pwm/pwm.cpp
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@@ -208,6 +208,7 @@ pwm_main(int argc, char *argv[])
bool oneshot = false;
int ch;
int ret;
int rv = 1;
char *ep;
uint32_t set_mask = 0;
unsigned group;
@@ -679,6 +680,11 @@ pwm_main(int argc, char *argv[])
fds.fd = 0; /* stdin */
fds.events = POLLIN;
if (::ioctl(fd, PWM_SERVO_SET_MODE, PWM_SERVO_ENTER_TEST_MODE) < 0) {
PX4_ERR("Failed to Enter pwm test mode");
goto err_out_no_test;
}
PX4_INFO("Press CTRL-C or 'c' to abort.");
while (1) {
@@ -688,7 +694,7 @@ pwm_main(int argc, char *argv[])
if (ret != OK) {
PX4_ERR("PWM_SERVO_SET(%d)", i);
return 1;
goto err_out;
}
}
}
@@ -709,13 +715,14 @@ pwm_main(int argc, char *argv[])
if (ret != OK) {
PX4_ERR("PWM_SERVO_SET(%d)", i);
return 1;
goto err_out;
}
}
}
PX4_INFO("User abort\n");
return 0;
rv = 0;
goto err_out;
}
}
@@ -731,8 +738,15 @@ pwm_main(int argc, char *argv[])
up_pwm_update();
#endif
}
rv = 0;
err_out:
if (::ioctl(fd, PWM_SERVO_SET_MODE, PWM_SERVO_EXIT_TEST_MODE) < 0) {
rv = 1;
PX4_ERR("Failed to Exit pwm test mode");
}
return 0;
err_out_no_test:
return rv;
} else if (!strcmp(command, "steps")) {