diff options
Diffstat (limited to 'apps/px4/tests/test_servo.c')
| -rw-r--r-- | apps/px4/tests/test_servo.c | 132 |
1 files changed, 0 insertions, 132 deletions
diff --git a/apps/px4/tests/test_servo.c b/apps/px4/tests/test_servo.c deleted file mode 100644 index f95760ca8..000000000 --- a/apps/px4/tests/test_servo.c +++ /dev/null @@ -1,132 +0,0 @@ -/**************************************************************************** - * px4/sensors/test_hrt.c - * - * Copyright (C) 2012 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 NuttX 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. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include <nuttx/config.h> - -#include <sys/types.h> - -#include <stdio.h> -#include <stdlib.h> -#include <unistd.h> -#include <fcntl.h> -#include <errno.h> -#include <debug.h> -#include <time.h> - -#include <arch/board/board.h> -#include <drivers/drv_pwm_output.h> - -#include <nuttx/spi.h> - -#include "tests.h" - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: test_servo - ****************************************************************************/ - -int test_servo(int argc, char *argv[]) -{ - int fd, result; - servo_position_t data[PWM_OUTPUT_MAX_CHANNELS]; - servo_position_t pos; - - fd = open(PWM_OUTPUT_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"); - - for (unsigned i = 0; i < PWM_OUTPUT_MAX_CHANNELS; 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]); - - } - - printf("Servos arming at default values\n"); - result = ioctl(fd, PWM_SERVO_ARM, 0); - usleep(5000000); - printf("Advancing channel 0 to 1500\n"); - result = ioctl(fd, PWM_SERVO_SET(0), 1500); -out: - return 0; -} |