From 5c8c58a1e6a2977b4a2f6d81928d4bfc64c87649 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 18 Jul 2014 11:19:37 +0200 Subject: pwm system command: Allow to force failsave (forcefail command) --- src/systemcmds/pwm/pwm.c | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) (limited to 'src/systemcmds') diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c index e0e6ca537..77d8ef8db 100644 --- a/src/systemcmds/pwm/pwm.c +++ b/src/systemcmds/pwm/pwm.c @@ -635,7 +635,23 @@ pwm_main(int argc, char *argv[]) } exit(0); + } else if (!strcmp(argv[1], "forcefail")) { + + if (argc < 3) { + errx(1, "arg missing [on|off]"); + } else { + + if (!strcmp(argv[2], "on")) { + /* force failsafe */ + ret = ioctl(fd, PWM_SERVO_SET_FORCE_FAILSAFE, 1); + } else { + /* force failsafe */ + ret = ioctl(fd, PWM_SERVO_SET_FORCE_FAILSAFE, 0); + } + } + } + usage("specify arm|disarm|rate|failsafe|disarmed|min|max|test|info"); return 0; } -- cgit v1.2.3