From 0ce854ad55420f2e44493d01a1c7d471f1c9f81c Mon Sep 17 00:00:00 2001
From: David Sidrane <david_s5@nscdg.com>
Date: Thu, 2 Mar 2017 03:44:15 -1000
Subject: [PATCH] Support onshot command
---
src/systemcmds/pwm/pwm.c | 37 ++++++++++++++++++++++++++-----------
1 file changed, 26 insertions(+), 11 deletions(-)
diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c
index 85f881d6a1..b8fec68314 100644
--- a/src/systemcmds/pwm/pwm.c
+++ b/src/systemcmds/pwm/pwm.c
@@ -83,6 +83,12 @@ usage(const char *reason)
"arm\t\t\t\tArm output\n"
"disarm\t\t\t\tDisarm output\n"
"\n"
+ "oneshot ...\t\t\tConfigure Onshot\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-t <pulse>\t\tOneshot duration (1 to 65535 125nS)\n"
+ "\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"
@@ -169,6 +175,7 @@ pwm_main(int argc, char *argv[])
bool alt_channels_set = false;
bool print_verbose = false;
bool error_on_warn = false;
+ bool oneshot = false;
int ch;
int ret;
char *ep;
@@ -302,6 +309,8 @@ pwm_main(int argc, char *argv[])
return error_on_warn;
}
+ oneshot = !strcmp(command, "oneshot");
+
if (!strcmp(command, "arm")) {
/* tell safety that its ok to disable it with the switch */
ret = px4_ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
@@ -337,19 +346,18 @@ pwm_main(int argc, char *argv[])
return 0;
- } else if (!strcmp(command, "rate")) {
+ } else if (oneshot || !strcmp(command, "rate")) {
- /* change alternate PWM rate */
-// if (alt_rate > 0) {
- ret = px4_ioctl(fd, PWM_SERVO_SET_UPDATE_RATE, alt_rate);
+ /* change alternate PWM rate or set oneshot */
+ if (oneshot || alt_rate > 0) {
+ ret = px4_ioctl(fd, PWM_SERVO_SET_UPDATE_RATE, alt_rate);
- if (ret != OK) {
- PX4_ERR("PWM_SERVO_SET_UPDATE_RATE (check rate for sanity)");
- return error_on_warn;
+ if (ret != OK) {
+ PX4_ERR("PWM_SERVO_SET_UPDATE_RATE (check rate for sanity)");
+ return error_on_warn;
+ }
}
-// }
-
/* directly supplied channel mask */
if (set_mask > 0) {
ret = px4_ioctl(fd, PWM_SERVO_SET_SELECT_UPDATE_RATE, set_mask);
@@ -632,7 +640,6 @@ pwm_main(int argc, char *argv[])
PX4_INFO("Press CTRL-C or 'c' to abort.");
while (1) {
-
for (unsigned i = 0; i < servo_count; i++) {
if (set_mask & 1 << i) {
ret = px4_ioctl(fd, PWM_SERVO_SET(i), pwm_value);
@@ -670,7 +677,15 @@ pwm_main(int argc, char *argv[])
}
}
- usleep(2500);
+ /* Delay longer than the max Oneshot duration */
+
+ usleep(2542);
+
+ /* Trigger all timer's channels in Oneshot mode to fire
+ * the oneshots with updated values.
+ */
+
+ up_pwm_update();
}
return 0;
--
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