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Commit 29799eb5 authored by alber's avatar alber
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/****************************************************************************
*
* Copyright (c) 2013, 2014, 2017 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.cpp
* @file arduino.cpp
* Author: Alberto Ruiz Garcia <a.ruizgarcia-1@tudelft.nl>
* Faculty of Aerospace Engineering - Delft University of Technology
*
* PWM servo output configuration and monitoring tool.
* PWM commands to communicate and synchronize with onboard microcontroller.
* Inspired in pwm.cpp from PX4 systemcmds
*/
#include <px4_config.h>
#include <px4_tasks.h>
#include <px4_posix.h>
#include <px4_getopt.h>
#include <px4_defines.h>
#include <px4_log.h>
......@@ -52,7 +20,6 @@
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <poll.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
......@@ -64,20 +31,14 @@
#include "systemlib/err.h"
#include <parameters/param.h>
#include "drivers/drv_pwm_output.h"
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/uORB.h>
#include "arduino_params.c"
// PWM output for each command
#define SLOW_MODE -0.9
#define FAST_MODE 0.1
#define SLAVE_RESET 0.5
#define GENERAL_RESET 1.0
#define GENERAL_RESET 0.95
static void usage(const char *reason);
__BEGIN_DECLS
......@@ -99,7 +60,15 @@ usage(const char *reason)
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("Arduino", "command");
PRINT_MODULE_USAGE_NAME("Arduino", "system command");
PRINT_MODULE_USAGE_COMMAND_DESCR("send", "Sends the command selected with -c flag");
PRINT_MODULE_USAGE_PARAM_COMMENT("Flags:");
PRINT_MODULE_USAGE_PARAM_FLAG('c', "PWM command: SLOW_MODE/FAST_MODE/SLAVE_RESET/GENERAL_RESET",true);
PRINT_MODULE_USAGE_PARAM_COMMENT("\t\t.-SLOW_MODE: lowers Arduino sampling rate to allow comms with ground station");
PRINT_MODULE_USAGE_PARAM_COMMENT("\t\t.-FAST_MODE: increases Arduino sampling rate to take measurements at max rate");
PRINT_MODULE_USAGE_PARAM_COMMENT("\t\t.-SLAVE_RESET: resets the slave Arduino connected to Air Data Computer");
PRINT_MODULE_USAGE_PARAM_COMMENT("\t\t.-GENERAL_RESET: resets both the master and slave Arduino");
PRINT_MODULE_USAGE_PARAM_COMMENT("Example usage: arduino send -c FAST_MODE");
}
......@@ -107,9 +76,9 @@ int
arduino_main(int argc, char *argv[])
{
int ch;
int rv = 1;
float pwm_command = 0.0f; // 1500 us
uint8_t command_recvd = 0;
float pwm_command = 0.0f; // 1500 us
if (argc < 2) {
usage(nullptr);
return 1;
......@@ -118,36 +87,41 @@ arduino_main(int argc, char *argv[])
int myoptind = 1;
const char *myoptarg = nullptr;
while ((ch = px4_getopt(argc, argv, "v:c:e:", &myoptind, &myoptarg)) != EOF) {
while ((ch = px4_getopt(argc, argv, "c:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'c':
case 'c':
command_recvd = 1;
if (strcmp(myoptarg,"SLOW_MODE") == 0) {
PX4_INFO("Command = SLOW_MODE");
pwm_command = SLOW_MODE;
PX4_INFO("Command = SLOW_MODE");
pwm_command = SLOW_MODE;
} else if (strcmp(myoptarg,"FAST_MODE") == 0) {
PX4_INFO("Command = FAST_MODE");
pwm_command = FAST_MODE;
PX4_INFO("Command = FAST_MODE");
pwm_command = FAST_MODE;
} else if (strcmp(myoptarg,"SLAVE_RESET") == 0) {
PX4_INFO("Command = SLAVE_RESET");
pwm_command = SLAVE_RESET;
PX4_INFO("Command = SLAVE_RESET");
pwm_command = SLAVE_RESET;
} else if (strcmp(myoptarg,"GENERAL_RESET") == 0) {
PX4_INFO("Command = GENERAL_RESET");
pwm_command = GENERAL_RESET;
}
PX4_INFO("PWM value = %1.1f",(double)pwm_command);
break;
PX4_INFO("Command = GENERAL_RESET");
pwm_command = GENERAL_RESET;
} else {
PX4_ERR("Command not recognized");
command_recvd = 0;
}
break;
default:
usage(nullptr);
return 1;
usage(nullptr);
return 1;
}
}
param_set(param_find("ARDUINO_PWM"), &pwm_command);
PX4_INFO("Command sent.");
rv = 0;
return rv;
if (command_recvd > 0){
PX4_INFO("PWM value = %1.1f",(double)pwm_command);
param_set(param_find("ARDUINO_PWM"), &pwm_command);
PX4_INFO("Command sent.");
}
return 0;
}
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