From f8ba5f8dae146529e3ff28f4330cdc4daaa6f260 Mon Sep 17 00:00:00 2001
From: Holger Steinhaus <holger@steinhaus-home.de>
Date: Tue, 26 Aug 2014 21:10:39 +0200
Subject: cmd line utility for controlling drive tests

---
 src/systemcmds/motor_test/motor_test.c | 128 +++++++++++++++++++++++++++++++++
 1 file changed, 128 insertions(+)
 create mode 100644 src/systemcmds/motor_test/motor_test.c

(limited to 'src/systemcmds/motor_test/motor_test.c')

diff --git a/src/systemcmds/motor_test/motor_test.c b/src/systemcmds/motor_test/motor_test.c
new file mode 100644
index 000000000..079f99674
--- /dev/null
+++ b/src/systemcmds/motor_test/motor_test.c
@@ -0,0 +1,128 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
+ *   Author: Holger Steinhaus <hsteinhaus@gmx.de>
+ *
+ * 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 PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file motor_test.c
+ *
+ * Tool for drive testing
+ */
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
+#include <arch/board/board.h>
+#include <drivers/drv_hrt.h>
+#include <uORB/topics/test_motor.h>
+
+
+#include "systemlib/systemlib.h"
+#include "systemlib/err.h"
+
+
+__EXPORT int	motor_test_main(int argc, char *argv[]);
+static void motor_test(unsigned channel, float value);
+static void usage(const char *reason);
+
+void motor_test(unsigned channel, float value)
+{
+	orb_advert_t        _test_motor_pub;
+	struct test_motor_s _test_motor;
+
+	_test_motor.motor_number = channel;
+	_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);
+        }
+}
+
+static void usage(const char *reason)
+{
+	if (reason != NULL)
+		warnx("%s", reason);
+
+	errx(1,
+		"usage:\n"
+		"motor_test\n"
+		"    -m <channel>            Motor to test (0..7)\n"
+		"    -p <power>              Power (0..100)\n");
+}
+
+int motor_test_main(int argc, char *argv[])
+{
+	unsigned long channel, lval;
+	float value;
+	int ch;
+
+	if (argc != 5) {
+		usage("please specify motor and power");
+	}
+
+	while ((ch = getopt(argc, argv, "m:p:")) != EOF) {
+		switch (ch) {
+
+		case 'm':
+			/* Read in channels supplied as one int and convert to mask: 1234 -> 0xF */
+			channel = strtoul(optarg, NULL, 0);
+			break;
+
+		case 'p':
+			/* Read in custom low value */
+			lval = strtoul(optarg, NULL, 0);
+
+			if (lval > 100)
+				usage("value invalid");
+
+			value = (float)lval/100.f;
+			break;
+		default:
+			usage(NULL);
+		}
+	}
+
+	motor_test(channel, value);
+
+	printf("motor %d set to %.2f\n", channel, value);
+
+	exit(0);
+}
-- 
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