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-rw-r--r--src/systemcmds/motor_test/module.mk2
-rw-r--r--src/systemcmds/motor_test/motor_test.c33
-rw-r--r--src/systemcmds/nshterm/nshterm.c27
-rw-r--r--src/systemcmds/pwm/pwm.c68
-rw-r--r--src/systemcmds/ver/ver.c76
5 files changed, 134 insertions, 72 deletions
diff --git a/src/systemcmds/motor_test/module.mk b/src/systemcmds/motor_test/module.mk
index eb36d2ded..261428ef9 100644
--- a/src/systemcmds/motor_test/module.mk
+++ b/src/systemcmds/motor_test/module.mk
@@ -39,3 +39,5 @@ MODULE_COMMAND = motor_test
SRCS = motor_test.c
MODULE_STACKSIZE = 4096
+
+MAXOPTIMIZATION = -Os
diff --git a/src/systemcmds/motor_test/motor_test.c b/src/systemcmds/motor_test/motor_test.c
index 079f99674..1b7ff75f7 100644
--- a/src/systemcmds/motor_test/motor_test.c
+++ b/src/systemcmds/motor_test/motor_test.c
@@ -54,7 +54,8 @@
#include "systemlib/err.h"
-__EXPORT int motor_test_main(int argc, char *argv[]);
+__EXPORT int motor_test_main(int argc, char *argv[]);
+
static void motor_test(unsigned channel, float value);
static void usage(const char *reason);
@@ -67,19 +68,20 @@ void motor_test(unsigned channel, float value)
_test_motor.timestamp = hrt_absolute_time();
_test_motor.value = value;
- if (_test_motor_pub > 0) {
- /* publish armed state */
- orb_publish(ORB_ID(test_motor), _test_motor_pub, &_test_motor);
- } else {
- /* advertise and publish */
- _test_motor_pub = orb_advertise(ORB_ID(test_motor), &_test_motor);
- }
+ if (_test_motor_pub > 0) {
+ /* publish test state */
+ orb_publish(ORB_ID(test_motor), _test_motor_pub, &_test_motor);
+ } else {
+ /* advertise and publish */
+ _test_motor_pub = orb_advertise(ORB_ID(test_motor), &_test_motor);
+ }
}
static void usage(const char *reason)
{
- if (reason != NULL)
+ if (reason != NULL) {
warnx("%s", reason);
+ }
errx(1,
"usage:\n"
@@ -90,8 +92,9 @@ static void usage(const char *reason)
int motor_test_main(int argc, char *argv[])
{
- unsigned long channel, lval;
- float value;
+ unsigned long channel = 0;
+ unsigned long lval;
+ float value = 0.0f;
int ch;
if (argc != 5) {
@@ -102,18 +105,18 @@ int motor_test_main(int argc, char *argv[])
switch (ch) {
case 'm':
- /* Read in channels supplied as one int and convert to mask: 1234 -> 0xF */
+ /* Read in motor number */
channel = strtoul(optarg, NULL, 0);
break;
case 'p':
- /* Read in custom low value */
+ /* Read in power value */
lval = strtoul(optarg, NULL, 0);
if (lval > 100)
usage("value invalid");
- value = (float)lval/100.f;
+ value = ((float)lval)/100.f;
break;
default:
usage(NULL);
@@ -122,7 +125,7 @@ int motor_test_main(int argc, char *argv[])
motor_test(channel, value);
- printf("motor %d set to %.2f\n", channel, value);
+ printf("motor %d set to %.2f\n", channel, (double)value);
exit(0);
}
diff --git a/src/systemcmds/nshterm/nshterm.c b/src/systemcmds/nshterm/nshterm.c
index f06c49552..edeb5c624 100644
--- a/src/systemcmds/nshterm/nshterm.c
+++ b/src/systemcmds/nshterm/nshterm.c
@@ -51,6 +51,8 @@
#include <fcntl.h>
#include <systemlib/err.h>
+#include <uORB/topics/actuator_armed.h>
+
__EXPORT int nshterm_main(int argc, char *argv[]);
int
@@ -62,9 +64,30 @@ nshterm_main(int argc, char *argv[])
}
unsigned retries = 0;
int fd = -1;
+ int armed_fd = orb_subscribe(ORB_ID(actuator_armed));
+ struct actuator_armed_s armed;
+ /* we assume the system does not provide arming status feedback */
+ bool armed_updated = false;
+
+ /* try the first 30 seconds or if arming system is ready */
+ while ((retries < 300) || armed_updated) {
+
+ /* abort if an arming topic is published and system is armed */
+ bool updated = false;
+ if (orb_check(armed_fd, &updated)) {
+ /* the system is now providing arming status feedback.
+ * instead of timing out, we resort to abort bringing
+ * up the terminal.
+ */
+ armed_updated = true;
+ orb_copy(ORB_ID(actuator_armed), armed_fd, &armed);
+
+ if (armed.armed) {
+ /* this is not an error, but we are done */
+ exit(0);
+ }
+ }
- /* try the first 30 seconds */
- while (retries < 300) {
/* the retries are to cope with the behaviour of /dev/ttyACM0 */
/* which may not be ready immediately. */
fd = open(argv[1], O_RDWR);
diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c
index 478c2a772..eeba89fa8 100644
--- a/src/systemcmds/pwm/pwm.c
+++ b/src/systemcmds/pwm/pwm.c
@@ -74,34 +74,34 @@ usage(const char *reason)
"usage:\n"
"pwm arm|disarm|rate|failsafe|disarmed|min|max|test|info ...\n"
"\n"
- " arm Arm output\n"
- " disarm Disarm output\n"
+ "arm\t\t\t\tArm output\n"
+ "disarm\t\t\t\tDisarm output\n"
"\n"
- " rate ... Configure PWM rates\n"
- " [-g <channel group>] Channel group that should update at the alternate rate\n"
- " [-m <chanmask> ] Directly supply channel mask\n"
- " [-a] Configure all outputs\n"
- " -r <alt_rate> PWM rate (50 to 400 Hz)\n"
+ "rate ...\t\t\tConfigure PWM rates\n"
+ "\t[-g <channel group>]\t(e.g. 0,1,2)\n"
+ "\t[-m <channel mask> ]\t(e.g. 0xF)\n"
+ "\t[-a]\t\t\tConfigure all outputs\n"
+ "\t-r <alt_rate>\t\tPWM rate (50 to 400 Hz)\n"
"\n"
- " failsafe ... Configure failsafe PWM values\n"
- " disarmed ... Configure disarmed PWM values\n"
- " min ... Configure minimum PWM values\n"
- " max ... Configure maximum PWM values\n"
- " [-c <channels>] Supply channels (e.g. 1234)\n"
- " [-m <chanmask> ] Directly supply channel mask (e.g. 0xF)\n"
- " [-a] Configure all outputs\n"
- " -p <pwm value> PWM value\n"
+ "failsafe ...\t\t\tFailsafe PWM\n"
+ "disarmed ...\t\t\tDisarmed PWM\n"
+ "min ...\t\t\t\tMinimum PWM\n"
+ "max ...\t\t\t\tMaximum PWM\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"
+ "\t-p <pwm value>\t\tPWM value\n"
"\n"
- " test ... Directly set PWM values\n"
- " [-c <channels>] Supply channels (e.g. 1234)\n"
- " [-m <chanmask> ] Directly supply channel mask (e.g. 0xF)\n"
- " [-a] Configure all outputs\n"
- " -p <pwm value> PWM value\n"
+ "test ...\t\t\tDirectly set PWM\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"
+ "\t-p <pwm value>\t\tPWM value\n"
"\n"
- " info Print information about the PWM device\n"
+ "info\t\t\t\tPrint information\n"
"\n"
- " -v Print verbose information\n"
- " -d <device> PWM output device (defaults to " PWM_OUTPUT_DEVICE_PATH ")\n"
+ "\t-v\t\t\tVerbose\n"
+ "\t-d <dev>\t\t(default " PWM_OUTPUT_DEVICE_PATH ")\n"
);
}
@@ -123,7 +123,7 @@ pwm_main(int argc, char *argv[])
unsigned single_ch = 0;
unsigned pwm_value = 0;
- if (argc < 1)
+ if (argc < 2)
usage(NULL);
while ((ch = getopt(argc-1, &argv[1], "d:vc:g:m:ap:r:")) != EOF) {
@@ -165,7 +165,7 @@ pwm_main(int argc, char *argv[])
/* Read in mask directly */
set_mask = strtoul(optarg, &ep, 0);
if (*ep != '\0')
- usage("bad set_mask value");
+ usage("BAD set_mask VAL");
break;
case 'a':
@@ -176,12 +176,12 @@ pwm_main(int argc, char *argv[])
case 'p':
pwm_value = strtoul(optarg, &ep, 0);
if (*ep != '\0')
- usage("bad PWM value provided");
+ usage("BAD PWM VAL");
break;
case 'r':
alt_rate = strtoul(optarg, &ep, 0);
if (*ep != '\0')
- usage("bad alternative rate provided");
+ usage("BAD rate VAL");
break;
default:
break;
@@ -189,7 +189,7 @@ pwm_main(int argc, char *argv[])
}
if (print_verbose && set_mask > 0) {
- warnx("Chose channels: ");
+ warnx("Channels: ");
printf(" ");
for (unsigned i = 0; i<PWM_OUTPUT_MAX_CHANNELS; i++) {
if (set_mask & 1<<i)
@@ -364,7 +364,7 @@ pwm_main(int argc, char *argv[])
usage("no channels set");
}
if (pwm_value == 0)
- usage("no PWM value provided");
+ usage("no PWM provided");
struct pwm_output_values pwm_values = {.values = {0}, .channel_count = 0};
@@ -383,7 +383,7 @@ pwm_main(int argc, char *argv[])
ret = ioctl(fd, PWM_SERVO_SET_FAILSAFE_PWM, (long unsigned int)&pwm_values);
if (ret != OK)
- errx(ret, "failed setting failsafe values");
+ errx(ret, "BAD input VAL");
}
exit(0);
@@ -393,7 +393,7 @@ pwm_main(int argc, char *argv[])
usage("no channels set");
}
if (pwm_value == 0)
- usage("no PWM value provided");
+ usage("no PWM provided");
/* get current servo values */
struct pwm_output_values last_spos;
@@ -487,7 +487,7 @@ pwm_main(int argc, char *argv[])
steps_timing_index < sizeof(steps_timings_us) / sizeof(steps_timings_us[0]);
steps_timing_index++ ) {
- warnx("Sending step input with 0 to 100%% over a %u microseconds ramp", steps_timings_us[steps_timing_index]);
+ warnx("Step input (0 to 100%%) over %u us ramp", steps_timings_us[steps_timing_index]);
while (1) {
for (unsigned i = 0; i < servo_count; i++) {
@@ -526,7 +526,7 @@ pwm_main(int argc, char *argv[])
err(1, "PWM_SERVO_SET(%d)", i);
}
}
- warnx("Key pressed, user abort\n");
+ warnx("User abort\n");
exit(0);
}
}
@@ -675,7 +675,7 @@ pwm_main(int argc, char *argv[])
exit(0);
}
- usage("specify arm|disarm|rate|failsafe\n\t\tdisarmed|min|max|test|info|forcefail|terminatefail");
+ usage(NULL);
return 0;
}
diff --git a/src/systemcmds/ver/ver.c b/src/systemcmds/ver/ver.c
index 9ae080ee2..2ead3e632 100644
--- a/src/systemcmds/ver/ver.c
+++ b/src/systemcmds/ver/ver.c
@@ -44,14 +44,16 @@
#include <string.h>
#include <version/version.h>
#include <systemlib/err.h>
+#include <systemlib/mcu_version.h>
-// string constants for version commands
+/* string constants for version commands */
static const char sz_ver_hw_str[] = "hw";
static const char sz_ver_hwcmp_str[] = "hwcmp";
static const char sz_ver_git_str[] = "git";
static const char sz_ver_bdate_str[] = "bdate";
static const char sz_ver_gcc_str[] = "gcc";
static const char sz_ver_all_str[] = "all";
+static const char mcu_ver_str[] = "mcu";
static void usage(const char *reason)
{
@@ -59,55 +61,87 @@ static void usage(const char *reason)
printf("%s\n", reason);
}
- printf("usage: ver {hw|hwcmp|git|bdate|gcc|all}\n\n");
+ printf("usage: ver {hw|hwcmp|git|bdate|gcc|all|mcu}\n\n");
}
__EXPORT int ver_main(int argc, char *argv[]);
int ver_main(int argc, char *argv[])
{
- int ret = 1; //defaults to an error
+ /* defaults to an error */
+ int ret = 1;
- // first check if there are at least 2 params
+ /* first check if there are at least 2 params */
if (argc >= 2) {
if (argv[1] != NULL) {
- if (!strncmp(argv[1], sz_ver_hw_str, sizeof(sz_ver_hw_str))) {
- printf("%s\n", HW_ARCH);
- ret = 0;
- } else if (!strncmp(argv[1], sz_ver_hwcmp_str, sizeof(sz_ver_hwcmp_str))) {
+ if (!strncmp(argv[1], sz_ver_hwcmp_str, sizeof(sz_ver_hwcmp_str))) {
if (argc >= 3 && argv[2] != NULL) {
- // compare 3rd parameter with HW_ARCH string, in case of match, return 0
+ /* compare 3rd parameter with HW_ARCH string, in case of match, return 0 */
ret = strncmp(HW_ARCH, argv[2], strlen(HW_ARCH));
if (ret == 0) {
printf("ver hwcmp match: %s\n", HW_ARCH);
}
+ return ret;
} else {
errx(1, "Not enough arguments, try 'ver hwcmp PX4FMU_V2'");
}
+ }
- } else if (!strncmp(argv[1], sz_ver_git_str, sizeof(sz_ver_git_str))) {
- printf("%s\n", FW_GIT);
- ret = 0;
+ /* check if we want to show all */
+ bool show_all = !strncmp(argv[1], sz_ver_all_str, sizeof(sz_ver_all_str));
- } else if (!strncmp(argv[1], sz_ver_bdate_str, sizeof(sz_ver_bdate_str))) {
- printf("%s %s\n", __DATE__, __TIME__);
+ if (show_all || !strncmp(argv[1], sz_ver_hw_str, sizeof(sz_ver_hw_str))) {
+ printf("HW arch: %s\n", HW_ARCH);
ret = 0;
- } else if (!strncmp(argv[1], sz_ver_gcc_str, sizeof(sz_ver_gcc_str))) {
- printf("%s\n", __VERSION__);
+ }
+
+ if (show_all || !strncmp(argv[1], sz_ver_git_str, sizeof(sz_ver_git_str))) {
+ printf("FW git-hash: %s\n", FW_GIT);
ret = 0;
- } else if (!strncmp(argv[1], sz_ver_all_str, sizeof(sz_ver_all_str))) {
- printf("HW arch: %s\n", HW_ARCH);
+ }
+
+ if (show_all || !strncmp(argv[1], sz_ver_bdate_str, sizeof(sz_ver_bdate_str))) {
printf("Build datetime: %s %s\n", __DATE__, __TIME__);
- printf("FW git-hash: %s\n", FW_GIT);
- printf("GCC toolchain: %s\n", __VERSION__);
ret = 0;
- } else {
+ }
+
+ if (show_all || !strncmp(argv[1], sz_ver_gcc_str, sizeof(sz_ver_gcc_str))) {
+ printf("Toolchain: %s\n", __VERSION__);
+ ret = 0;
+
+ }
+
+ if (show_all || !strncmp(argv[1], mcu_ver_str, sizeof(mcu_ver_str))) {
+
+ char rev;
+ char* revstr;
+
+ int chip_version = mcu_version(&rev, &revstr);
+
+ if (chip_version < 0) {
+ printf("UNKNOWN MCU\n");
+
+ } else {
+ printf("MCU: %s, rev. %c\n", revstr, rev);
+
+ if (chip_version < MCU_REV_STM32F4_REV_3) {
+ printf("\nWARNING WARNING WARNING!\n"
+ "Revision %c has a silicon errata\n"
+ "This device can only utilize a maximum of 1MB flash safely!\n"
+ "http://px4.io/help/errata\n\n", rev);
+ }
+ }
+
+ ret = 0;
+ }
+
+ if (ret == 1) {
errx(1, "unknown command.\n");
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-01 16:20:18 +0000