1 files changed, 132 insertions, 0 deletions
diff --git a/apps/px4/tests/test_servo.c b/apps/px4/tests/test_servo.c
new file mode 100644
index 000000000..f95760ca8
--- /dev/null
+++ b/apps/px4/tests/test_servo.c
@@ -0,0 +1,132 @@
+/****************************************************************************
+ * 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;
+}