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Diffstat (limited to 'src/systemcmds/tests/test_servo.c')
-rw-r--r-- | src/systemcmds/tests/test_servo.c | 132 |
1 files changed, 132 insertions, 0 deletions
diff --git a/src/systemcmds/tests/test_servo.c b/src/systemcmds/tests/test_servo.c new file mode 100644 index 000000000..f95760ca8 --- /dev/null +++ b/src/systemcmds/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; +} |