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Rename HIL class to PWMSim

This commit is contained in:
Lorenz Meier 2015-08-12 19:29:31 +02:00
parent 846236a12f
commit 231ab7d690
1 changed files with 45 additions and 45 deletions
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90
src/drivers/pwm_out_sim/pwm_out_sim.cpp
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@ -34,16 +34,16 @@
/**
* @file hil.cpp
*
* Driver/configurator for the virtual HIL port.
* Driver/configurator for the virtual PWMSim port.
*
* This virtual driver emulates PWM / servo outputs for setups where
* the connected hardware does not provide enough or no PWM outputs.
*
* Its only function is to take actuator_control uORB messages,
* mix them with any loaded mixer and output the result to the
* actuator_output uORB topic. HIL can also be performed with normal
* actuator_output uORB topic. PWMSim can also be performed with normal
* PWM outputs, a special flag prevents the outputs to be operated
* during HIL mode. If HIL is not performed with a standalone FMU,
* during PWMSim mode. If PWMSim is not performed with a standalone FMU,
* but in a real system, it is NOT recommended to use this virtual
* driver. Use instead the normal FMU or IO driver.
*/
@ -85,9 +85,9 @@
#include <systemlib/err.h>
#ifdef __PX4_NUTTX
class HIL : public device::CDev
class PWMSim : public device::CDev
#else
class HIL : public device::VDev
class PWMSim : public device::VDev
#endif
{
public:
@ -99,8 +99,8 @@ public:
MODE_16PWM,
MODE_NONE
};
HIL();
virtual ~HIL();
PWMSim();
virtual ~PWMSim();
virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
@ -159,13 +159,13 @@ private:
namespace
{
HIL *g_hil;
PWMSim *g_pwm_sim;
} // namespace
bool HIL::_armed = false;
bool PWMSim::_armed = false;
HIL::HIL() :
PWMSim::PWMSim() :
#ifdef __PX4_NUTTX
CDev
#else
@ -187,7 +187,7 @@ HIL::HIL() :
_debug_enabled = true;
}
HIL::~HIL()
PWMSim::~PWMSim()
{
if (_task != -1) {
/* tell the task we want it to go away */
@ -207,11 +207,11 @@ HIL::~HIL()
} while (_task != -1);
}
g_hil = nullptr;
g_pwm_sim = nullptr;
}
int
HIL::init()
PWMSim::init()
{
int ret;
@ -230,12 +230,12 @@ HIL::init()
_primary_pwm_device = true;
}
/* start the HIL interface task */
/* start the PWMSim interface task */
_task = px4_task_spawn_cmd("pwm_out_sim",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
1200,
(px4_main_t)&HIL::task_main_trampoline,
(px4_main_t)&PWMSim::task_main_trampoline,
nullptr);
if (_task < 0) {
@ -247,13 +247,13 @@ HIL::init()
}
void
HIL::task_main_trampoline(int argc, char *argv[])
PWMSim::task_main_trampoline(int argc, char *argv[])
{
g_hil->task_main();
g_pwm_sim->task_main();
}
int
HIL::set_mode(Mode mode)
PWMSim::set_mode(Mode mode)
{
/*
* Configure for PWM output.
@ -313,7 +313,7 @@ HIL::set_mode(Mode mode)
}
int
HIL::set_pwm_rate(unsigned rate)
PWMSim::set_pwm_rate(unsigned rate)
{
if ((rate > 500) || (rate < 10))
return -EINVAL;
@ -323,7 +323,7 @@ HIL::set_pwm_rate(unsigned rate)
}
void
HIL::task_main()
PWMSim::task_main()
{
/*
* Subscribe to the appropriate PWM output topic based on whether we are the
@ -441,7 +441,7 @@ HIL::task_main()
/* get new value */
orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
/* do not obey the lockdown value, as lockdown is for HIL */
/* do not obey the lockdown value, as lockdown is for PWMSim */
_armed = aa.armed;
}
}
@ -459,7 +459,7 @@ HIL::task_main()
}
int
HIL::control_callback(uintptr_t handle,
PWMSim::control_callback(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &input)
@ -476,7 +476,7 @@ HIL::control_callback(uintptr_t handle,
}
int
HIL::ioctl(device::file_t *filp, int cmd, unsigned long arg)
PWMSim::ioctl(device::file_t *filp, int cmd, unsigned long arg)
{
int ret;
@ -487,7 +487,7 @@ HIL::ioctl(device::file_t *filp, int cmd, unsigned long arg)
case MODE_8PWM:
case MODE_12PWM:
case MODE_16PWM:
ret = HIL::pwm_ioctl(filp, cmd, arg);
ret = PWMSim::pwm_ioctl(filp, cmd, arg);
break;
default:
ret = -ENOTTY;
@ -508,7 +508,7 @@ HIL::ioctl(device::file_t *filp, int cmd, unsigned long arg)
}
int
HIL::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
PWMSim::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
{
int ret = OK;
// int channel;
@ -525,12 +525,12 @@ HIL::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
break;
case PWM_SERVO_SET_UPDATE_RATE:
// HIL always outputs at the alternate (usually faster) rate
g_hil->set_pwm_rate(arg);
// PWMSim always outputs at the alternate (usually faster) rate
g_pwm_sim->set_pwm_rate(arg);
break;
case PWM_SERVO_SET_SELECT_UPDATE_RATE:
// HIL always outputs at the alternate (usually faster) rate
// PWMSim always outputs at the alternate (usually faster) rate
break;
case PWM_SERVO_GET_DEFAULT_UPDATE_RATE:
@ -743,11 +743,11 @@ hil_new_mode(PortMode new_mode)
// /* reset to all-inputs */
// g_hil->ioctl(0, GPIO_RESET, 0);
// g_pwm_sim->ioctl(0, GPIO_RESET, 0);
// gpio_bits = 0;
HIL::Mode servo_mode = HIL::MODE_NONE;
PWMSim::Mode servo_mode = PWMSim::MODE_NONE;
switch (new_mode) {
case PORT_MODE_UNDEFINED:
@ -758,43 +758,43 @@ hil_new_mode(PortMode new_mode)
case PORT1_FULL_PWM:
/* select 4-pin PWM mode */
servo_mode = HIL::MODE_4PWM;
servo_mode = PWMSim::MODE_4PWM;
break;
case PORT1_PWM_AND_SERIAL:
/* select 2-pin PWM mode */
servo_mode = HIL::MODE_2PWM;
servo_mode = PWMSim::MODE_2PWM;
// /* set RX/TX multi-GPIOs to serial mode */
// gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4;
break;
case PORT1_PWM_AND_GPIO:
/* select 2-pin PWM mode */
servo_mode = HIL::MODE_2PWM;
servo_mode = PWMSim::MODE_2PWM;
break;
case PORT2_8PWM:
/* select 8-pin PWM mode */
servo_mode = HIL::MODE_8PWM;
servo_mode = PWMSim::MODE_8PWM;
break;
case PORT2_12PWM:
/* select 12-pin PWM mode */
servo_mode = HIL::MODE_12PWM;
servo_mode = PWMSim::MODE_12PWM;
break;
case PORT2_16PWM:
/* select 16-pin PWM mode */
servo_mode = HIL::MODE_16PWM;
servo_mode = PWMSim::MODE_16PWM;
break;
}
// /* adjust GPIO config for serial mode(s) */
// if (gpio_bits != 0)
// g_hil->ioctl(0, GPIO_SET_ALT_1, gpio_bits);
// g_pwm_sim->ioctl(0, GPIO_SET_ALT_1, gpio_bits);
/* (re)set the PWM output mode */
g_hil->set_mode(servo_mode);
g_pwm_sim->set_mode(servo_mode);
return OK;
}
@ -870,9 +870,9 @@ pwm_out_sim_main(int argc, char *argv[])
}
verb = argv[1];
if (g_hil == nullptr) {
g_hil = new HIL;
if (g_hil == nullptr) {
if (g_pwm_sim == nullptr) {
g_pwm_sim = new PWMSim;
if (g_pwm_sim == nullptr) {
return -ENOMEM;
}
}
@ -924,12 +924,12 @@ pwm_out_sim_main(int argc, char *argv[])
ret = -EINVAL;
}
if ( ret == OK && g_hil->_task == -1 ) {
ret = g_hil->init();
if ( ret == OK && g_pwm_sim->_task == -1 ) {
ret = g_pwm_sim->init();
if (ret != OK) {
warnx("failed to start the pwm_out_sim driver");
delete g_hil;
g_hil = nullptr;
delete g_pwm_sim;
g_pwm_sim = nullptr;
}
}
return ret;