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VRBRAIN: changed the management of the pwm output

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This commit is contained in:
LukeMike 2014-06-27 16:32:03 +02:00 committed by Emile Castelnuovo
parent fa4fffc878
commit f70da39206
2 changed files with 43 additions and 42 deletions
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81
libraries/AP_HAL_VRBRAIN/RCOutput.cpp
View File

@ -30,39 +30,39 @@ void VRBRAINRCOutput::init(void* unused)
hal.console->printf("RCOutput: Unable to setup IO arming OK\n"); hal.console->printf("RCOutput: Unable to setup IO arming OK\n");
} }
_rate_mask = 0; _rate_mask = 0;
_alt_fd = -1;
_servo_count = 0; _servo_count = 0;
_alt_servo_count = 0;
if (ioctl(_pwm_fd, PWM_SERVO_GET_COUNT, (unsigned long)&_servo_count) != 0) { if (ioctl(_pwm_fd, PWM_SERVO_GET_COUNT, (unsigned long)&_servo_count) != 0) {
hal.console->printf("RCOutput: Unable to get servo count\n"); hal.console->printf("RCOutput: Unable to get servo count\n");
return; return;
} }
_alt_fd = open("/dev/vroutput", O_RDWR);
if (_alt_fd == -1) {
hal.console->printf("RCOutput: failed to open /dev/vroutput");
return;
}
} }
void VRBRAINRCOutput::_init_alt_channels(void) void VRBRAINRCOutput::_init_alt_channels(void)
{ {
if (_alt_fd == -1) {
return;
}
if (ioctl(_alt_fd, PWM_SERVO_ARM, 0) != 0) {
hal.console->printf("RCOutput: Unable to setup alt IO arming\n");
return;
}
if (ioctl(_alt_fd, PWM_SERVO_SET_ARM_OK, 0) != 0) {
hal.console->printf("RCOutput: Unable to setup alt IO arming OK\n");
return;
}
if (ioctl(_alt_fd, PWM_SERVO_GET_COUNT, (unsigned long)&_alt_servo_count) != 0) {
hal.console->printf("RCOutput: Unable to get servo count\n");
}
} }
void VRBRAINRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz) void VRBRAINRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
@ -128,12 +128,12 @@ uint16_t VRBRAINRCOutput::get_freq(uint8_t ch)
void VRBRAINRCOutput::enable_ch(uint8_t ch) void VRBRAINRCOutput::enable_ch(uint8_t ch)
{ {
if (ch >= 8 && !(_enabled_channels & (1U<<ch))) {
// this is the first enable of an auxillary channel - setup
// aux channels now. This delayed setup makes it possible to
// use BRD_PWM_COUNT to setup the number of PWM channels.
_init_alt_channels();
}
_enabled_channels |= (1U<<ch); _enabled_channels |= (1U<<ch);
} }
@ -184,7 +184,7 @@ void VRBRAINRCOutput::force_safety_off(void)
void VRBRAINRCOutput::write(uint8_t ch, uint16_t period_us) void VRBRAINRCOutput::write(uint8_t ch, uint16_t period_us)
{ {
if (ch >= _servo_count + _alt_servo_count) { if (ch >= _servo_count) {
return; return;
} }
if (!(_enabled_channels & (1U<<ch))) { if (!(_enabled_channels & (1U<<ch))) {
@ -197,6 +197,7 @@ void VRBRAINRCOutput::write(uint8_t ch, uint16_t period_us)
if (period_us != _period[ch]) { if (period_us != _period[ch]) {
_period[ch] = period_us; _period[ch] = period_us;
_need_update = true; _need_update = true;
up_pwm_servo_set(ch, period_us);
} }
} }
@ -235,19 +236,19 @@ void VRBRAINRCOutput::_timer_tick(void)
if (_need_update && _pwm_fd != -1) { if (_need_update && _pwm_fd != -1) {
_need_update = false; _need_update = false;
perf_begin(_perf_rcout); perf_begin(_perf_rcout);
if (_max_channel <= _servo_count) {
::write(_pwm_fd, _period, _max_channel*sizeof(_period[0])); ::write(_pwm_fd, _period, _max_channel*sizeof(_period[0]));
} else {
// we're using both sets of outputs
::write(_pwm_fd, _period, _servo_count*sizeof(_period[0]));
if (_alt_fd != -1 && _alt_servo_count > 0) {
uint8_t n = _max_channel - _servo_count;
if (n > _alt_servo_count) {
n = _alt_servo_count;
}
::write(_alt_fd, &_period[_servo_count], n*sizeof(_period[0]));
}
}
perf_end(_perf_rcout); perf_end(_perf_rcout);
_last_output = now; _last_output = now;
} }

4
libraries/AP_HAL_VRBRAIN/RCOutput.h
View File

@ -27,7 +27,7 @@ public:
private: private:
int _pwm_fd; int _pwm_fd;
int _alt_fd;
uint16_t _freq_hz; uint16_t _freq_hz;
uint16_t _period[VRBRAIN_NUM_OUTPUT_CHANNELS]; uint16_t _period[VRBRAIN_NUM_OUTPUT_CHANNELS];
volatile uint8_t _max_channel; volatile uint8_t _max_channel;
@ -35,7 +35,7 @@ private:
perf_counter_t _perf_rcout; perf_counter_t _perf_rcout;
uint32_t _last_output; uint32_t _last_output;
unsigned _servo_count; unsigned _servo_count;
unsigned _alt_servo_count;
uint32_t _rate_mask; uint32_t _rate_mask;
uint16_t _enabled_channels; uint16_t _enabled_channels;