mirror of https://github.com/ArduPilot/ardupilot
420 lines
12 KiB
C++
420 lines
12 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include "RCOutput.h"
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <drivers/drv_pwm_output.h>
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#include <uORB/topics/actuator_direct.h>
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#include <drivers/drv_hrt.h>
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extern const AP_HAL::HAL& hal;
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using namespace PX4;
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void PX4RCOutput::init()
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{
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_perf_rcout = perf_alloc(PC_ELAPSED, "APM_rcout");
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_pwm_fd = open(PWM_OUTPUT0_DEVICE_PATH, O_RDWR);
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if (_pwm_fd == -1) {
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AP_HAL::panic("Unable to open " PWM_OUTPUT0_DEVICE_PATH);
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}
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if (ioctl(_pwm_fd, PWM_SERVO_ARM, 0) != 0) {
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hal.console->printf("RCOutput: Unable to setup IO arming\n");
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}
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if (ioctl(_pwm_fd, PWM_SERVO_SET_ARM_OK, 0) != 0) {
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hal.console->printf("RCOutput: Unable to setup IO arming OK\n");
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}
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_rate_mask = 0;
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_alt_fd = -1;
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_servo_count = 0;
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_alt_servo_count = 0;
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if (ioctl(_pwm_fd, PWM_SERVO_GET_COUNT, (unsigned long)&_servo_count) != 0) {
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hal.console->printf("RCOutput: Unable to get servo count\n");
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return;
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}
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for (uint8_t i=0; i<ORB_MULTI_MAX_INSTANCES; i++) {
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_outputs[i].pwm_sub = orb_subscribe_multi(ORB_ID(actuator_outputs), i);
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}
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#if !defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
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_alt_fd = open("/dev/px4fmu", O_RDWR);
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if (_alt_fd == -1) {
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hal.console->printf("RCOutput: failed to open /dev/px4fmu");
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return;
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}
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#endif
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// ensure not to write zeros to disabled channels
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_enabled_channels = 0;
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for (int i=0; i < PX4_NUM_OUTPUT_CHANNELS; i++) {
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_period[i] = PWM_IGNORE_THIS_CHANNEL;
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}
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// publish actuator vaules on demand
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_actuator_direct_pub = NULL;
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// and armed state
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_actuator_armed_pub = NULL;
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}
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void PX4RCOutput::_init_alt_channels(void)
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{
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if (_alt_fd == -1) {
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return;
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}
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if (ioctl(_alt_fd, PWM_SERVO_ARM, 0) != 0) {
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hal.console->printf("RCOutput: Unable to setup alt IO arming\n");
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return;
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}
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if (ioctl(_alt_fd, PWM_SERVO_SET_ARM_OK, 0) != 0) {
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hal.console->printf("RCOutput: Unable to setup alt IO arming OK\n");
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return;
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}
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if (ioctl(_alt_fd, PWM_SERVO_GET_COUNT, (unsigned long)&_alt_servo_count) != 0) {
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hal.console->printf("RCOutput: Unable to get servo count\n");
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}
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}
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/*
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set output frequency on outputs associated with fd
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*/
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void PX4RCOutput::set_freq_fd(int fd, uint32_t chmask, uint16_t freq_hz)
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{
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// we can't set this per channel
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if (freq_hz > 50) {
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// we're being asked to set the alt rate
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if (ioctl(fd, PWM_SERVO_SET_UPDATE_RATE, (unsigned long)freq_hz) != 0) {
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hal.console->printf("RCOutput: Unable to set alt rate to %uHz\n", (unsigned)freq_hz);
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return;
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}
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_freq_hz = freq_hz;
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}
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/* work out the new rate mask. The outputs have 3 groups of servos.
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Group 0: channels 0 1
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Group 1: channels 4 5 6 7
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Group 2: channels 2 3
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Channels within a group must be set to the same rate.
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For the moment we never set the channels above 8 to more than
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50Hz
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*/
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if (freq_hz > 50) {
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// we are setting high rates on the given channels
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_rate_mask |= chmask & 0xFF;
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if (_rate_mask & 0x3) {
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_rate_mask |= 0x3;
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}
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if (_rate_mask & 0xc) {
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_rate_mask |= 0xc;
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}
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if (_rate_mask & 0xF0) {
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_rate_mask |= 0xF0;
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}
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} else {
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// we are setting low rates on the given channels
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if (chmask & 0x3) {
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_rate_mask &= ~0x3;
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}
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if (chmask & 0xc) {
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_rate_mask &= ~0xc;
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}
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if (chmask & 0xf0) {
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_rate_mask &= ~0xf0;
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}
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}
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if (ioctl(fd, PWM_SERVO_SET_SELECT_UPDATE_RATE, _rate_mask) != 0) {
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hal.console->printf("RCOutput: Unable to set alt rate mask to 0x%x\n", (unsigned)_rate_mask);
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}
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}
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/*
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set output frequency
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*/
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void PX4RCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
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{
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// greater than 400 doesn't give enough room at higher periods for
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// the down pulse
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if (freq_hz > 400) {
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freq_hz = 400;
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}
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uint32_t primary_mask = chmask & ((1UL<<_servo_count)-1);
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uint32_t alt_mask = chmask >> _servo_count;
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if (primary_mask && _pwm_fd != -1) {
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set_freq_fd(_pwm_fd, primary_mask, freq_hz);
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}
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if (alt_mask && _alt_fd != -1) {
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set_freq_fd(_alt_fd, alt_mask, freq_hz);
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}
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}
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uint16_t PX4RCOutput::get_freq(uint8_t ch)
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{
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if (_rate_mask & (1U<<ch)) {
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return _freq_hz;
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}
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return 50;
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}
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void PX4RCOutput::enable_ch(uint8_t ch)
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{
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if (ch >= PX4_NUM_OUTPUT_CHANNELS) {
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return;
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}
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if (ch >= 8 && !(_enabled_channels & (1U<<ch))) {
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// this is the first enable of an auxillary channel - setup
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// aux channels now. This delayed setup makes it possible to
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// use BRD_PWM_COUNT to setup the number of PWM channels.
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_init_alt_channels();
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}
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_enabled_channels |= (1U<<ch);
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if (_period[ch] == PWM_IGNORE_THIS_CHANNEL) {
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_period[ch] = 0;
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}
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}
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void PX4RCOutput::disable_ch(uint8_t ch)
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{
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if (ch >= PX4_NUM_OUTPUT_CHANNELS) {
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return;
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}
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_enabled_channels &= ~(1U<<ch);
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_period[ch] = PWM_IGNORE_THIS_CHANNEL;
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}
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void PX4RCOutput::set_safety_pwm(uint32_t chmask, uint16_t period_us)
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{
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struct pwm_output_values pwm_values;
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memset(&pwm_values, 0, sizeof(pwm_values));
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for (uint8_t i=0; i<_servo_count; i++) {
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if ((1UL<<i) & chmask) {
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pwm_values.values[i] = period_us;
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}
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pwm_values.channel_count++;
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}
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int ret = ioctl(_pwm_fd, PWM_SERVO_SET_DISARMED_PWM, (long unsigned int)&pwm_values);
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if (ret != OK) {
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hal.console->printf("Failed to setup disarmed PWM for 0x%08x to %u\n", (unsigned)chmask, period_us);
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}
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}
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void PX4RCOutput::set_failsafe_pwm(uint32_t chmask, uint16_t period_us)
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{
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struct pwm_output_values pwm_values;
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memset(&pwm_values, 0, sizeof(pwm_values));
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for (uint8_t i=0; i<_servo_count; i++) {
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if ((1UL<<i) & chmask) {
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pwm_values.values[i] = period_us;
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}
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pwm_values.channel_count++;
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}
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int ret = ioctl(_pwm_fd, PWM_SERVO_SET_FAILSAFE_PWM, (long unsigned int)&pwm_values);
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if (ret != OK) {
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hal.console->printf("Failed to setup failsafe PWM for 0x%08x to %u\n", (unsigned)chmask, period_us);
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}
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}
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bool PX4RCOutput::force_safety_on(void)
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{
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int ret = ioctl(_pwm_fd, PWM_SERVO_SET_FORCE_SAFETY_ON, 0);
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return (ret == OK);
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}
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void PX4RCOutput::force_safety_off(void)
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{
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int ret = ioctl(_pwm_fd, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0);
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if (ret != OK) {
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hal.console->printf("Failed to force safety off\n");
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}
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}
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void PX4RCOutput::write(uint8_t ch, uint16_t period_us)
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{
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if (ch >= _servo_count + _alt_servo_count) {
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return;
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}
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if (!(_enabled_channels & (1U<<ch))) {
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// not enabled
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return;
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}
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if (ch >= _max_channel) {
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_max_channel = ch + 1;
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}
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if (period_us != _period[ch]) {
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_period[ch] = period_us;
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_need_update = true;
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}
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}
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uint16_t PX4RCOutput::read(uint8_t ch)
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{
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if (ch >= PX4_NUM_OUTPUT_CHANNELS) {
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return 0;
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}
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// if px4io has given us a value for this channel use that,
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// otherwise use the value we last sent. This makes it easier to
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// observe the behaviour of failsafe in px4io
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for (uint8_t i=0; i<ORB_MULTI_MAX_INSTANCES; i++) {
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if (_outputs[i].pwm_sub >= 0 &&
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ch < _outputs[i].outputs.noutputs &&
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_outputs[i].outputs.output[ch] > 0) {
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return _outputs[i].outputs.output[ch];
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}
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}
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return _period[ch];
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}
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void PX4RCOutput::read(uint16_t* period_us, uint8_t len)
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{
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for (uint8_t i=0; i<len; i++) {
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period_us[i] = read(i);
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}
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}
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/*
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update actuator armed state
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*/
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void PX4RCOutput::_arm_actuators(bool arm)
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{
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if (_armed.armed == arm) {
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// already armed;
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return;
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}
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_armed.timestamp = hrt_absolute_time();
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_armed.armed = arm;
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_armed.ready_to_arm = arm;
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_armed.lockdown = false;
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_armed.force_failsafe = false;
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if (_actuator_armed_pub == NULL) {
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_actuator_armed_pub = orb_advertise(ORB_ID(actuator_armed), &_armed);
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} else {
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orb_publish(ORB_ID(actuator_armed), _actuator_armed_pub, &_armed);
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}
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}
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/*
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publish new outputs to the actuator_direct topic
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*/
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void PX4RCOutput::_publish_actuators(void)
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{
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struct actuator_direct_s actuators;
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if (_esc_pwm_min == 0 ||
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_esc_pwm_max == 0) {
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// not initialised yet
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return;
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}
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actuators.nvalues = _max_channel;
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if (actuators.nvalues > actuators.NUM_ACTUATORS_DIRECT) {
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actuators.nvalues = actuators.NUM_ACTUATORS_DIRECT;
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}
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// don't publish more than 8 actuators for now, as the uavcan ESC
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// driver refuses to update any motors if you try to publish more
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// than 8
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if (actuators.nvalues > 8) {
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actuators.nvalues = 8;
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}
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bool armed = hal.util->get_soft_armed();
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actuators.timestamp = hrt_absolute_time();
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for (uint8_t i=0; i<actuators.nvalues; i++) {
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if (!armed) {
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actuators.values[i] = 0;
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} else {
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actuators.values[i] = (_period[i] - _esc_pwm_min) / (float)(_esc_pwm_max - _esc_pwm_min);
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}
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// actuator values are from -1 to 1
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actuators.values[i] = actuators.values[i]*2 - 1;
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}
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if (_actuator_direct_pub == NULL) {
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_actuator_direct_pub = orb_advertise(ORB_ID(actuator_direct), &actuators);
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} else {
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orb_publish(ORB_ID(actuator_direct), _actuator_direct_pub, &actuators);
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}
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if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
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_arm_actuators(true);
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}
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}
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void PX4RCOutput::_timer_tick(void)
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{
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uint32_t now = AP_HAL::micros();
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if ((_enabled_channels & ((1U<<_servo_count)-1)) == 0) {
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// no channels enabled
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_arm_actuators(false);
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goto update_pwm;
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}
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// always send at least at 20Hz, otherwise the IO board may think
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// we are dead
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if (now - _last_output > 50000) {
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_need_update = true;
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}
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// check for PWM count changing. This can happen then the user changes BRD_PWM_COUNT
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if (now - _last_config_us > 1000000) {
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if (_pwm_fd != -1) {
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ioctl(_pwm_fd, PWM_SERVO_GET_COUNT, (unsigned long)&_servo_count);
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}
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if (_alt_fd != -1) {
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ioctl(_alt_fd, PWM_SERVO_GET_COUNT, (unsigned long)&_alt_servo_count);
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}
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_last_config_us = now;
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}
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if (_need_update && _pwm_fd != -1) {
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_need_update = false;
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perf_begin(_perf_rcout);
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if (_max_channel <= _servo_count) {
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::write(_pwm_fd, _period, _max_channel*sizeof(_period[0]));
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} else {
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// we're using both sets of outputs
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::write(_pwm_fd, _period, _servo_count*sizeof(_period[0]));
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if (_alt_fd != -1 && _alt_servo_count > 0) {
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uint8_t n = _max_channel - _servo_count;
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if (n > _alt_servo_count) {
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n = _alt_servo_count;
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}
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::write(_alt_fd, &_period[_servo_count], n*sizeof(_period[0]));
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}
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}
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// also publish to actuator_direct
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_publish_actuators();
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perf_end(_perf_rcout);
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_last_output = now;
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}
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update_pwm:
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for (uint8_t i=0; i<ORB_MULTI_MAX_INSTANCES; i++) {
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bool rc_updated = false;
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if (_outputs[i].pwm_sub >= 0 &&
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orb_check(_outputs[i].pwm_sub, &rc_updated) == 0 &&
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rc_updated) {
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orb_copy(ORB_ID(actuator_outputs), _outputs[i].pwm_sub, &_outputs[i].outputs);
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}
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}
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}
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#endif // CONFIG_HAL_BOARD
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