diff options
Diffstat (limited to 'apps/drivers')
| -rw-r--r-- | apps/drivers/drv_pwm_output.h | 3 | ||||
| -rw-r--r-- | apps/drivers/px4io/px4io.cpp | 28 |
2 files changed, 30 insertions, 1 deletions
diff --git a/apps/drivers/drv_pwm_output.h b/apps/drivers/drv_pwm_output.h index 23883323e..64bb540b4 100644 --- a/apps/drivers/drv_pwm_output.h +++ b/apps/drivers/drv_pwm_output.h @@ -106,6 +106,9 @@ ORB_DECLARE(output_pwm); /** get the number of servos in *(unsigned *)arg */ #define PWM_SERVO_GET_COUNT _IOC(_PWM_SERVO_BASE, 3) +/** set debug level for servo IO */ +#define PWM_SERVO_SET_DEBUG _IOC(_PWM_SERVO_BASE, 4) + /** set a single servo to a specific value */ #define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo) diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp index 51ff3fb83..8bcf4bacb 100644 --- a/apps/drivers/px4io/px4io.cpp +++ b/apps/drivers/px4io/px4io.cpp @@ -1019,6 +1019,11 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg) *(unsigned *)arg = _max_actuators; break; + case PWM_SERVO_SET_DEBUG: + /* set the debug level */ + ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG, arg); + break; + case PWM_SERVO_SET(0) ... PWM_SERVO_SET(PWM_OUTPUT_MAX_CHANNELS): { unsigned channel = cmd - PWM_SERVO_SET(0); @@ -1287,6 +1292,27 @@ px4io_main(int argc, char *argv[]) exit(0); } + if (!strcmp(argv[1], "debug")) { + if (argc <= 2) { + printf("usage: px4io debug LEVEL\n"); + exit(1); + } + if (g_dev == nullptr) { + printf("px4io is not started\n"); + exit(1); + } + uint8_t level = atoi(argv[2]); + // we can cheat and call the driver directly, as it + // doesn't reference filp in ioctl() + int ret = g_dev->ioctl(NULL, PWM_SERVO_SET_DEBUG, level); + if (ret != 0) { + printf("SET_DEBUG failed - %d\n", ret); + exit(1); + } + printf("SET_DEBUG %u OK\n", (unsigned)level); + exit(0); + } + /* note, stop not currently implemented */ if (!strcmp(argv[1], "update")) { @@ -1353,5 +1379,5 @@ px4io_main(int argc, char *argv[]) monitor(); out: - errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor' or 'update'"); + errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug' or 'update'"); } |