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/****************************************************************************
*
* 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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