1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
|
/****************************************************************************
*
* Copyright (C) 2013 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 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 pwm.c
*
* PWM servo output configuration and monitoring tool.
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <poll.h>
#include <sys/mount.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <nuttx/i2c.h>
#include <nuttx/mtd.h>
#include <nuttx/fs/nxffs.h>
#include <nuttx/fs/ioctl.h>
#include <arch/board/board.h>
#include "systemlib/systemlib.h"
#include "systemlib/err.h"
#include "drivers/drv_pwm_output.h"
static void usage(const char *reason);
__EXPORT int pwm_main(int argc, char *argv[]);
static void
usage(const char *reason)
{
if (reason != NULL)
warnx("%s", reason);
errx(1,
"usage:\n"
"pwm arm|disarm|rate|min|max|disarmed|test|info ...\n"
"\n"
" arm Arm output\n"
" disarm Disarm output\n"
"\n"
" rate Configure PWM rates\n"
" [-c <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"
"\n"
" min ... Configure minimum PWM values\n"
" max ... Configure maximum PWM values\n"
" disarmed ... Configure disarmed PWM values\n"
" [-m <chanmask> ] Directly supply channel mask\n"
" [-a] Configure all outputs\n"
" -p <pwm value> PWM value\n"
"\n"
" test ... Directly set PWM values\n"
" [-m <chanmask> ] Directly supply channel mask\n"
" [-a] Configure all outputs\n"
" -p <pwm value> PWM value\n"
"\n"
" info Print information about the PWM device\n"
"\n"
" -v Print verbose information\n"
" -d <device> PWM output device (defaults to " PWM_OUTPUT_DEVICE_PATH ")\n"
);
}
int
pwm_main(int argc, char *argv[])
{
const char *dev = PWM_OUTPUT_DEVICE_PATH;
unsigned alt_rate = 0;
uint32_t alt_channel_groups = 0;
bool alt_channels_set = false;
bool print_verbose = false;
int ch;
int ret;
char *ep;
uint32_t set_mask = 0;
unsigned group;
unsigned long channels;
unsigned single_ch = 0;
unsigned pwm_value = 0;
if (argc < 1)
usage(NULL);
while ((ch = getopt(argc-1, &argv[1], "d:vc:m:ap:r:")) != EOF) {
switch (ch) {
case 'd':
if (NULL == strstr(optarg, "/dev/")) {
warnx("device %s not valid", optarg);
usage(NULL);
}
dev = optarg;
break;
case 'v':
print_verbose = true;
break;
case 'c':
/* Read in channels supplied as one int and convert to mask: 1234 -> 0xF */
channels = strtol(optarg, &ep, 0);
while ((single_ch = channels % 10)) {
set_mask |= 1<<(single_ch-1);
channels /= 10;
}
break;
case 'g':
group = strtoul(optarg, &ep, 0);
if ((*ep != '\0') || (group >= 32))
usage("bad channel_group value");
alt_channel_groups |= (1 << group);
alt_channels_set = true;
break;
case 'm':
/* Read in mask directly */
set_mask = strtol(optarg, &ep, 0);
if (*ep != '\0')
usage("bad set_mask value");
break;
case 'a':
for (unsigned i = 0; i<PWM_OUTPUT_MAX_CHANNELS; i++) {
set_mask |= 1<<i;
}
break;
case 'p':
pwm_value = strtol(optarg, &ep, 0);
if (*ep != '\0')
usage("bad PWM value provided");
break;
case 'r':
alt_rate = strtol(optarg, &ep, 0);
if (*ep != '\0')
usage("bad alternative rate provided");
break;
default:
break;
}
}
if (print_verbose && set_mask > 0) {
warnx("Chose channels: ");
printf(" ");
for (unsigned i = 0; i<PWM_OUTPUT_MAX_CHANNELS; i++) {
if (set_mask & 1<<i)
printf("%d ", i+1);
}
printf("\n");
}
/* open for ioctl only */
int fd = open(dev, 0);
if (fd < 0)
err(1, "can't open %s", dev);
/* get the number of servo channels */
unsigned servo_count;
ret = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
if (ret != OK)
err(1, "PWM_SERVO_GET_COUNT");
int argi = 1; /* leave away cmd name */
while(argi<argc) {
if (!strcmp(argv[argi], "arm")) {
/* tell IO that its ok to disable its safety with the switch */
ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
if (ret != OK)
err(1, "PWM_SERVO_SET_ARM_OK");
/* tell IO that the system is armed (it will output values if safety is off) */
ret = ioctl(fd, PWM_SERVO_ARM, 0);
if (ret != OK)
err(1, "PWM_SERVO_ARM");
if (print_verbose)
warnx("Outputs armed");
exit(0);
} else if (!strcmp(argv[argi], "disarm")) {
/* disarm, but do not revoke the SET_ARM_OK flag */
ret = ioctl(fd, PWM_SERVO_DISARM, 0);
if (ret != OK)
err(1, "PWM_SERVO_DISARM");
if (print_verbose)
warnx("Outputs disarmed");
exit(0);
}else if (!strcmp(argv[argi], "rate")) {
/* change alternate PWM rate */
if (alt_rate > 0) {
ret = ioctl(fd, PWM_SERVO_SET_UPDATE_RATE, alt_rate);
if (ret != OK)
err(1, "PWM_SERVO_SET_UPDATE_RATE (check rate for sanity)");
} else {
usage("no alternative rate provided");
}
/* directly supplied channel mask */
if (set_mask > 0) {
ret = ioctl(fd, PWM_SERVO_SELECT_UPDATE_RATE, set_mask);
if (ret != OK)
err(1, "PWM_SERVO_SELECT_UPDATE_RATE");
} else {
usage("no channel/channel groups selected");
}
/* assign alternate rate to channel groups */
if (alt_channels_set) {
uint32_t mask = 0;
for (group = 0; group < 32; group++) {
if ((1 << group) & alt_channel_groups) {
uint32_t group_mask;
ret = ioctl(fd, PWM_SERVO_GET_RATEGROUP(group), (unsigned long)&group_mask);
if (ret != OK)
err(1, "PWM_SERVO_GET_RATEGROUP(%u)", group);
mask |= group_mask;
}
}
ret = ioctl(fd, PWM_SERVO_SELECT_UPDATE_RATE, mask);
if (ret != OK)
err(1, "PWM_SERVO_SELECT_UPDATE_RATE");
}
exit(0);
} else if (!strcmp(argv[argi], "min")) {
if (set_mask == 0) {
usage("no channels set");
}
if (pwm_value == 0)
usage("no PWM value provided");
struct pwm_output_values pwm_values = {.values = {0}, .channel_count = 0};
for (unsigned i = 0; i < servo_count; i++) {
if (set_mask & 1<<i) {
pwm_values.values[i] = pwm_value;
if (print_verbose)
warnx("Channel %d: min PWM: %d", i+1, pwm_value);
pwm_values.channel_count++;
}
}
if (pwm_values.channel_count == 0) {
usage("no PWM values added");
} else {
ret = ioctl(fd, PWM_SERVO_SET_MIN_PWM, (long unsigned int)&pwm_values);
if (ret != OK)
errx(ret, "failed setting idle values");
}
exit(0);
} else if (!strcmp(argv[argi], "max")) {
if (set_mask == 0) {
usage("no channels set");
}
if (pwm_value == 0)
usage("no PWM value provided");
struct pwm_output_values pwm_values = {.values = {0}, .channel_count = 0};
for (unsigned i = 0; i < servo_count; i++) {
if (set_mask & 1<<i) {
pwm_values.values[i] = pwm_value;
if (print_verbose)
warnx("Channel %d: max PWM: %d", i+1, pwm_value);
pwm_values.channel_count++;
}
}
if (pwm_values.channel_count == 0) {
usage("no PWM values added");
} else {
ret = ioctl(fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_values);
if (ret != OK)
errx(ret, "failed setting idle values");
}
exit(0);
} else if (!strcmp(argv[argi], "disarmed")) {
if (set_mask == 0) {
usage("no channels set");
}
if (pwm_value == 0)
usage("no PWM value provided");
struct pwm_output_values pwm_values = {.values = {0}, .channel_count = 0};
for (unsigned i = 0; i < servo_count; i++) {
if (set_mask & 1<<i) {
pwm_values.values[i] = pwm_value;
if (print_verbose)
warnx("Channel %d: disarmed PWM: %d", i+1, pwm_value);
pwm_values.channel_count++;
}
}
if (pwm_values.channel_count == 0) {
usage("no PWM values added");
} else {
ret = ioctl(fd, PWM_SERVO_SET_DISARMED_PWM, (long unsigned int)&pwm_values);
if (ret != OK)
errx(ret, "failed setting idle values");
}
exit(0);
} else if (!strcmp(argv[argi], "test")) {
if (set_mask == 0) {
usage("no channels set");
}
if (pwm_value == 0)
usage("no PWM value provided");
/* perform PWM output */
/* Open console directly to grab CTRL-C signal */
struct pollfd fds;
fds.fd = 0; /* stdin */
fds.events = POLLIN;
warnx("Press CTRL-C or 'c' to abort.");
while (1) {
for (unsigned i = 0; i < servo_count; i++) {
if (set_mask & 1<<i) {
ret = ioctl(fd, PWM_SERVO_SET(i), pwm_value);
if (ret != OK)
err(1, "PWM_SERVO_SET(%d)", i);
}
}
/* abort on user request */
char c;
ret = poll(&fds, 1, 0);
if (ret > 0) {
read(0, &c, 1);
if (c == 0x03 || c == 0x63 || c == 'q') {
warnx("User abort\n");
exit(0);
}
}
}
exit(0);
} else if (!strcmp(argv[argi], "info")) {
/* print current servo values */
for (unsigned i = 0; i < servo_count; i++) {
servo_position_t spos;
ret = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&spos);
if (ret == OK) {
printf("channel %u: %uus\n", i, spos);
} else {
printf("%u: ERROR\n", i);
}
}
/* print rate groups */
for (unsigned i = 0; i < servo_count; i++) {
uint32_t group_mask;
ret = ioctl(fd, PWM_SERVO_GET_RATEGROUP(i), (unsigned long)&group_mask);
if (ret != OK)
break;
if (group_mask != 0) {
printf("channel group %u: channels", i);
for (unsigned j = 0; j < 32; j++)
if (group_mask & (1 << j))
printf(" %u", j);
printf("\n");
}
}
exit(0);
}
argi++;
}
usage("specify arm|disarm|set|config|test");
return 0;
}
|