yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 01:12:11 +00:00
Code Issues Packages Projects Releases Wiki Activity

PWM command: Allow robust error code returns

Browse Source
This commit is contained in:
Lorenz Meier
2016-12-23 19:06:46 +01:00
parent fff35fe34b
commit ca096c1257
1 changed files with 23 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files

32
src/systemcmds/pwm/pwm.c
View File

@@ -87,6 +87,7 @@ usage(const char *reason)
"min ...\t\t\t\tMinimum PWM\n"
"max ...\t\t\t\tMaximum PWM\n"
// "trim ...\t\t\tTrim PWM\n"
"\t[-e]\t\t\trobust error handling\n"
"\t[-c <channels>]\t\t(e.g. 1234)\n"
"\t[-m <channel mask> ]\t(e.g. 0xF)\n"
"\t[-a]\t\t\tConfigure all outputs\n"
@@ -157,6 +158,7 @@ pwm_main(int argc, char *argv[])
uint32_t alt_channel_groups = 0;
bool alt_channels_set = false;
bool print_verbose = false;
bool error_on_warn = false;
int ch;
int ret;
char *ep;
@@ -170,7 +172,7 @@ pwm_main(int argc, char *argv[])
usage(NULL);
}
while ((ch = getopt(argc - 1, &argv[1], "d:vc:g:m:ap:r:")) != EOF) {
while ((ch = getopt(argc - 1, &argv[1], "d:vec:g:m:ap:r:")) != EOF) {
switch (ch) {
case 'd':
@@ -186,6 +188,10 @@ pwm_main(int argc, char *argv[])
print_verbose = true;
break;
case 'e':
error_on_warn = false;
break;
case 'c':
/* Read in channels supplied as one int and convert to mask: 1234 -> 0xF */
channels = strtoul(optarg, &ep, 0);
@@ -266,7 +272,8 @@ pwm_main(int argc, char *argv[])
ret = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
if (ret != OK) {
err(1, "PWM_SERVO_GET_COUNT");
PX4_ERR("PWM_SERVO_GET_COUNT");
return error_on_warn;
}
if (!strcmp(argv[1], "arm")) {
@@ -311,7 +318,8 @@ pwm_main(int argc, char *argv[])
ret = ioctl(fd, PWM_SERVO_SET_UPDATE_RATE, alt_rate);
if (ret != OK) {
err(1, "PWM_SERVO_SET_UPDATE_RATE (check rate for sanity)");
PX4_ERR("PWM_SERVO_SET_UPDATE_RATE (check rate for sanity)");
return error_on_warn;
}
}
@@ -320,7 +328,8 @@ pwm_main(int argc, char *argv[])
ret = ioctl(fd, PWM_SERVO_SET_SELECT_UPDATE_RATE, set_mask);
if (ret != OK) {
err(1, "PWM_SERVO_SET_SELECT_UPDATE_RATE");
PX4_ERR("PWM_SERVO_SET_SELECT_UPDATE_RATE");
return error_on_warn;
}
}
@@ -335,7 +344,8 @@ pwm_main(int argc, char *argv[])
ret = ioctl(fd, PWM_SERVO_GET_RATEGROUP(group), (unsigned long)&group_mask);
if (ret != OK) {
err(1, "PWM_SERVO_GET_RATEGROUP(%u)", group);
PX4_ERR("PWM_SERVO_GET_RATEGROUP(%u)", group);
return error_on_warn;
}
mask |= group_mask;
@@ -345,7 +355,8 @@ pwm_main(int argc, char *argv[])
ret = ioctl(fd, PWM_SERVO_SET_SELECT_UPDATE_RATE, mask);
if (ret != OK) {
err(1, "PWM_SERVO_SET_SELECT_UPDATE_RATE");
PX4_ERR("PWM_SERVO_SET_SELECT_UPDATE_RATE");
return error_on_warn;
}
}
@@ -392,7 +403,8 @@ pwm_main(int argc, char *argv[])
ret = ioctl(fd, PWM_SERVO_SET_MIN_PWM, (long unsigned int)&pwm_values);
if (ret != OK) {
errx(ret, "failed setting min values");
PX4_ERR("failed setting min values (%d)", ret);
return error_on_warn;
}
}
@@ -439,7 +451,8 @@ pwm_main(int argc, char *argv[])
ret = ioctl(fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_values);
if (ret != OK) {
errx(ret, "failed setting max values");
PX4_ERR("failed setting max values (%d)", ret);
return error_on_warn;
}
}
@@ -486,7 +499,8 @@ pwm_main(int argc, char *argv[])
ret = ioctl(fd, PWM_SERVO_SET_DISARMED_PWM, (long unsigned int)&pwm_values);
if (ret != OK) {
errx(ret, "failed setting disarmed values");
PX4_ERR("failed setting disarmed values (%d)", ret);
return error_on_warn;
}
}