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rpi_pca9685_pwm_out: remove this driver, it's now in rpi_pwm_out

This commit is contained in:
Beat Küng 2017-05-08 13:09:15 +02:00
parent 51dc988914
commit 243ae00e4e
7 changed files with 1 additions and 865 deletions
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1
cmake/configs/posix_rpi_common.cmake
View File

@ -82,7 +82,6 @@ set(config_module_list
drivers/navio_rgbled
drivers/pwm_out_sim
drivers/rpi_rc_in
drivers/rpi_pca9685_pwm_out
#
# Libraries

2
posix-configs/rpi/px4_no_shield.config
View File

@ -22,6 +22,6 @@ mavlink stream -u 14556 -s ATTITUDE -r 50
#mavlink stream -d /dev/ttyUSB0 -s HIGHRES_IMU -r 50
#mavlink stream -d /dev/ttyUSB0 -s ATTITUDE -r 50
rpi_rc_in start
rpi_pca9685_pwm_out start
rpi_pwm_out start -p pca9685
logger start -t
mavlink boot_complete

43
src/drivers/rpi_pca9685_pwm_out/CMakeLists.txt
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@ -1,43 +0,0 @@
############################################################################
#
# Copyright (c) 2015-2016 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.
#
############################################################################
px4_add_module(
MODULE drivers__rpi_pca9685_pwm_out
MAIN rpi_pca9685_pwm_out
COMPILE_FLAGS
SRCS
PCA9685.cpp
rpi_pca9685_pwm_out.cpp
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

172
src/drivers/rpi_pca9685_pwm_out/PCA9685.cpp
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@ -1,172 +0,0 @@
/****************************************************************************
*
* Copyright (c) 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.
*
*
* Original Author : Georgi Todorov
* Edited by : Tord Wessman
* Created on : Nov 22, 2013
* Rewrite : Fan.zhang 421395590@qq.com
* Updated on : Mar 2, 2017
****************************************************************************/
#include <sys/stat.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <linux/i2c-dev.h>
#include <stdio.h> /* Standard I/O functions */
#include <fcntl.h>
#include <inttypes.h>
#include <errno.h>
#include <math.h>
#include <stdio.h>
#include <unistd.h>
#include "PCA9685.h"
#include <px4_log.h>
void PCA9685::init(int bus, int address)
{
_fd = open_fd(bus, address);
reset();
}
PCA9685::PCA9685()
{
init(PCA9685_DEFAULT_I2C_BUS, PCA9685_DEFAULT_I2C_ADDR);
}
PCA9685::PCA9685(int bus, int address)
{
init(bus, address);
}
PCA9685::~PCA9685()
{
reset();
if (_fd >= 0) {
close(_fd);
}
}
void PCA9685::reset()
{
if (_fd != -1) {
write_byte(_fd, MODE1, 0x00); //Normal mode
write_byte(_fd, MODE2, 0x04); //Normal mode
}
}
void PCA9685::setPWMFreq(int freq)
{
if (_fd != -1) {
uint8_t prescale = (CLOCK_FREQ / MAX_PWM_RES / freq) - 1;
//printf ("Setting prescale value to: %d\n", prescale);
//printf ("Using Frequency: %d\n", freq);
uint8_t oldmode = read_byte(_fd, MODE1);
uint8_t newmode = (oldmode & 0x7F) | 0x10; //sleep
write_byte(_fd, MODE1, newmode); // go to sleep
write_byte(_fd, PRE_SCALE, prescale);
write_byte(_fd, MODE1, oldmode);
usleep(10 * 1000);
write_byte(_fd, MODE1, oldmode | 0x80);
}
}
void PCA9685::setPWM(uint8_t led, int value)
{
setPWM(led, 0, value);
}
void PCA9685::setPWM(uint8_t led, int on_value, int off_value)
{
if (_fd != -1) {
write_byte(_fd, LED0_ON_L + LED_MULTIPLYER * led, on_value & 0xFF);
write_byte(_fd, LED0_ON_H + LED_MULTIPLYER * led, on_value >> 8);
write_byte(_fd, LED0_OFF_L + LED_MULTIPLYER * led, off_value & 0xFF);
write_byte(_fd, LED0_OFF_H + LED_MULTIPLYER * led, off_value >> 8);
}
}
uint8_t PCA9685::read_byte(int fd, uint8_t address)
{
uint8_t buf[1];
buf[0] = address;
if (write(fd, buf, 1) != 1) {
return -1;
}
if (read(fd, buf, 1) != 1) {
return -1;
}
return buf[0];
}
void PCA9685::write_byte(int fd, uint8_t address, uint8_t data)
{
uint8_t buf[2];
buf[0] = address;
buf[1] = data;
if (write(fd, buf, sizeof(buf)) != sizeof(buf)) {
PX4_ERR("Write failed (%i)", errno);
}
}
int PCA9685::open_fd(int bus, int address)
{
int fd;
char bus_file[64];
snprintf(bus_file, sizeof(bus_file), "/dev/i2c-%d", bus);
if ((fd = open(bus_file, O_RDWR)) < 0) {
PX4_ERR("Couldn't open I2C Bus %d [open_fd():open %d]", bus, errno);
return -1;
}
if (ioctl(fd, I2C_SLAVE, address) < 0) {
PX4_ERR("I2C slave %d failed [open_fd():ioctl %d]", address, errno);
return -1;
}
return fd;
}

132
src/drivers/rpi_pca9685_pwm_out/PCA9685.h
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@ -1,132 +0,0 @@
/****************************************************************************
*
* Copyright (c) 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.
*
*
* Original Author : Georgi Todorov
* Edited by : Tord Wessman
* Created on : Nov 22, 2013
* Rewrite : Fan.zhang 421395590@qq.com
* Updated on : Mar 2, 2017
****************************************************************************/
#pragma once
#include <inttypes.h>
// Register Definitions
// 寄存器定义
#define MODE1 0x00 //Mode register 1
#define MODE2 0x01 //Mode register 2
#define SUBADR1 0x02 //I2C-bus subaddress 1
#define SUBADR2 0x03 //I2C-bus subaddress 2
#define SUBADR3 0x04 //I2C-bus subaddress 3
#define ALLCALLADR 0x05 //LED All Call I2C-bus address
#define LED0 0x6 //LED0 start register
#define LED0_ON_L 0x6 //LED0 output and brightness control byte 0
#define LED0_ON_H 0x7 //LED0 output and brightness control byte 1
#define LED0_OFF_L 0x8 //LED0 output and brightness control byte 2
#define LED0_OFF_H 0x9 //LED0 output and brightness control byte 3
#define LED_MULTIPLYER 4 // For the other 15 channels
#define ALLLED_ON_L 0xFA //load all the LEDn_ON registers, byte 0 (turn 0-7 channels on)
#define ALLLED_ON_H 0xFB //load all the LEDn_ON registers, byte 1 (turn 8-15 channels on)
#define ALLLED_OFF_L 0xFC //load all the LEDn_OFF registers, byte 0 (turn 0-7 channels off)
#define ALLLED_OFF_H 0xFD //load all the LEDn_OFF registers, byte 1 (turn 8-15 channels off)
#define PRE_SCALE 0xFE //prescaler for output frequency
#define MAX_PWM_RES 4096 //Resolution 4096=12bit 分辨率，按2的阶乘计算，12bit为4096
#define CLOCK_FREQ 25000000.0 //25MHz default osc clock
#define PCA9685_DEFAULT_I2C_ADDR 0x40 // default i2c address for pca9685 默认i2c地址为0x40
#define PCA9685_DEFAULT_I2C_BUS 1 // default i2c bus for pca9685 默认为1
//! Main class that exports features for PCA9685 chip
class PCA9685
{
public:
PCA9685();
/**
* Constructor takes bus and address arguments
* @param bus the bus to use in /dev/i2c-%d.
* @param address the device address on bus
*/
PCA9685(int bus, int address);
void init(int bus, int address);
~PCA9685();
/// Sets PCA9685 mode to 00
void reset();
/**
* Set the frequency of PWM
* @param freq desired frequency. 40Hz to 1000Hz using internal 25MHz oscillator.
*/
void setPWMFreq(int freq);
/**
* PWM a single channel with custom on time.
* send pwm vale to led(channel)
* @param channel
* @param on_value 0-4095 value to turn on the pulse
* @param off_value 0-4095 value to turn off the pulse
*/
void setPWM(uint8_t channel, int on_value, int off_value);
/**
* send pwm value to led(channel),
* value should be range of 0-4095
*/
void setPWM(uint8_t channel, int value);
private:
int _fd = -1; ///< I2C device file descriptor
/**
* Read a single byte from PCA9685
* @param fd file descriptor for I/O
* @param address register address to read from
* @return read byte
*/
uint8_t read_byte(int fd, uint8_t address);
/**
* Write a single byte to PCA9685
* @param fd file descriptor for I/O
* @param address register address to write to
* @param data 8 bit data to write
*/
void write_byte(int fd, uint8_t address, uint8_t data);
/**
* Open device file for PCA9685 I2C bus
* @return fd returns the file descriptor number or -1 on error
*/
int open_fd(int bus, int address);
};

389
src/drivers/rpi_pca9685_pwm_out/rpi_pca9685_pwm_out.cpp
View File

@ -1,389 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2015-2016 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.
*
****************************************************************************/
#include "rpi_pca9685_pwm_out.h"
using namespace rpi_pca9685_pwm_out;
//--------------------------------------------------------------------------//
int rpi_pca9685_pwm_out::mixer_control_callback(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &input)
{
const actuator_controls_s *controls = (actuator_controls_s *)handle;
input = controls[control_group].control[control_index];
return 0;
}
//----------------------------------------------------------------------------//
int rpi_pca9685_pwm_out::initialize_mixer(const char *mixer_filename)
{
char buf[4096];
unsigned buflen = sizeof(buf);
memset(buf, '\0', buflen);
_mixer_group = new MixerGroup(mixer_control_callback, (uintptr_t) &_controls);
// PX4_INFO("Trying to initialize mixer from config file %s", mixer_filename);
if (load_mixer_file(mixer_filename, buf, buflen) == 0) {
if (_mixer_group->load_from_buf(buf, buflen) == 0) {
PX4_INFO("Loaded mixer from file %s", mixer_filename);
return 0;
} else {
PX4_ERR("Unable to parse from mixer config file %s", mixer_filename);
}
} else {
PX4_ERR("Unable to load config file %s", mixer_filename);
}
if (_mixer_group->count() <= 0) {
PX4_ERR("Mixer initialization failed");
return -1;
}
return 0;
}
//----------------------------------------------------------------------------//
int rpi_pca9685_pwm_out::pwm_initialize()
{
/**************初始化PCA9685开始*************/
/**************PCA965 initializing********/
pwm.init(1, 0x40);
usleep(1000 * 100);
/****12BIT 精度输出下，好赢电调可以到200HZ刷新***/
/****200HZ for 12bit Resolution, support most of the esc***/
pwm.setPWMFreq(200);
usleep(1000 * 1000);
/**************初始化PCA9685结束************/
/**************PCA965 initialized********/
return 0;
}
//----------------------------------------------------------------------------//
void rpi_pca9685_pwm_out::pwm_deinitialize()
{
rpi_pca9685_pwm_out::pwm.reset();
}
//----------------------------------------------------------------------------//
void rpi_pca9685_pwm_out::send_outputs_pwm(const uint16_t *pwm)
{
/*************向PCA9685发送数据*************/
/*************send pwm signal to pca9685 initializing*************/
int i;
for (i = 0; i < NUM_PWM; ++i) {
//PX4_WARN("PWM%d:%d\n",i,*(pwm+i));
rpi_pca9685_pwm_out::pwm.setPWM(i, *(pwm + i));
}
}
//----------------------------------------------------------------------------//
void rpi_pca9685_pwm_out::subscribe()
{
memset(_controls, 0, sizeof(_controls));
memset(_poll_fds, 0, sizeof(_poll_fds));
/* set up ORB topic names */
_controls_topics[0] = ORB_ID(actuator_controls_0);
_controls_topics[1] = ORB_ID(actuator_controls_1);
_controls_topics[2] = ORB_ID(actuator_controls_2);
_controls_topics[3] = ORB_ID(actuator_controls_3);
// Subscribe for orb topics
for (uint8_t i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_groups_required & (1 << i)) {
PX4_DEBUG("subscribe to actuator_controls_%d", i);
_controls_subs[i] = orb_subscribe(_controls_topics[i]);
} else {
_controls_subs[i] = -1;
}
if (_controls_subs[i] >= 0) {
_poll_fds[_poll_fds_num].fd = _controls_subs[i];
_poll_fds[_poll_fds_num].events = POLLIN;
_poll_fds_num++;
}
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
}
}
//----------------------------------------------------------------------------//
void rpi_pca9685_pwm_out::task_main(int argc, char *argv[])
{
_is_running = true;
/***************初始化PCA9685************/
/***************rpc_pca9685_pwm_out*************/
rpi_pca9685_pwm_out::pwm_initialize();
// Set up mixer
if (initialize_mixer(_mixer_filename) < 0) {
PX4_ERR("无法初始化通道混合配置文件 Can't loading mixer file");
return;
}
_mixer_group->groups_required(_groups_required);
// subscribe and set up polling
subscribe();
// Start disarmed
_armed.armed = false;
_armed.prearmed = false;
pwm_limit_init(&_pwm_limit);
// Main loop
while (!_task_should_exit) {
int pret = px4_poll(_poll_fds, _poll_fds_num, 10);
/* Timed out, do a periodic check for _task_should_exit. */
if (pret == 0) {
continue;
}
/* This is undesirable but not much we can do. */
if (pret < 0) {
PX4_WARN("poll error %d, %d", pret, errno);
/* sleep a bit before next try */
usleep(10000);
continue;
}
/* get controls for required topics */
unsigned poll_id = 0;
for (uint8_t i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_controls_subs[i] >= 0) {
if (_poll_fds[poll_id].revents & POLLIN) {
orb_copy(_controls_topics[i], _controls_subs[i], &_controls[i]);
}
poll_id++;
}
}
if (_mixer_group != nullptr) {
_outputs.timestamp = hrt_absolute_time();
/* do mixing */
_outputs.noutputs = _mixer_group->mix(_outputs.output,
_outputs.NUM_ACTUATOR_OUTPUTS,
NULL);
/* disable unused ports by setting their output to NaN */
for (size_t i = _outputs.noutputs;
i < _outputs.NUM_ACTUATOR_OUTPUTS;
i++) {
_outputs.output[i] = NAN;
}
const uint16_t reverse_mask = 0;
uint16_t disarmed_pwm[4];
uint16_t min_pwm[4];
uint16_t max_pwm[4];
for (unsigned int i = 0; i < NUM_PWM; i++) {
disarmed_pwm[i] = _pwm_disarmed;
min_pwm[i] = _pwm_min;
max_pwm[i] = _pwm_max;
}
uint16_t pwm[4];
// TODO FIXME: pre-armed seems broken
pwm_limit_calc(_armed.armed,
false/*_armed.prearmed*/,
_outputs.noutputs,
reverse_mask,
disarmed_pwm,
min_pwm,
max_pwm,
_outputs.output,
pwm,
&_pwm_limit);
if (_armed.lockdown) {
send_outputs_pwm(disarmed_pwm);
} else {
send_outputs_pwm(pwm);
}
if (_outputs_pub != nullptr) {
orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &_outputs);
} else {
_outputs_pub = orb_advertise(ORB_ID(actuator_outputs), &_outputs);
}
} else {
PX4_ERR("Could not mix output! Exiting...");
_task_should_exit = true;
}
bool updated;
orb_check(_armed_sub, &updated);
if (updated) {
orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
}
}
pwm_deinitialize();
for (uint8_t i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_controls_subs[i] >= 0) {
orb_unsubscribe(_controls_subs[i]);
}
}
orb_unsubscribe(_armed_sub);
_is_running = false;
}
//----------------------------------------------------------------------------//
void rpi_pca9685_pwm_out::task_main_trampoline(int argc, char *argv[])
{
task_main(argc, argv);
}
//----------------------------------------------------------------------------//
void rpi_pca9685_pwm_out::start()
{
ASSERT(_task_handle == -1);
_task_should_exit = false;
/* start the task */
_task_handle = px4_task_spawn_cmd("pwm_out_main",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX,
1500,
(px4_main_t)&task_main_trampoline,
nullptr);
if (_task_handle < 0) {
warn("task start failed");
return;
}
}
//----------------------------------------------------------------------------//
void rpi_pca9685_pwm_out::stop()
{
_task_should_exit = true;
while (_is_running) {
usleep(200000);
PX4_INFO(".");
}
_task_handle = -1;
}
//----------------------------------------------------------------------------//
void rpi_pca9685_pwm_out::usage()
{
PX4_INFO("usage: pwm_out start [-d pwmdevice] -m mixerfile");
PX4_INFO(" -d pwmdevice : sysfs device for pwm generation");
PX4_INFO(" (default /sys/class/pwm/pwmchip0)");
PX4_INFO(" -m mixerfile : path to mixerfile");
PX4_INFO(" (default ROMFS/px4fmu_common/mixers/quad_x.main.mix)");
PX4_INFO(" pwm_out stop");
PX4_INFO(" pwm_out status");
}
//----------------------------------------------------------------------------//
int rpi_pca9685_pwm_out_main(int argc, char **argv)
{
int ch;
int myoptind = 1;
const char *myoptarg = nullptr;
char *verb = nullptr;
if (argc >= 2) {
verb = argv[1];
} else {
return 1;
}
while ((ch = px4_getopt(argc, argv, "d:m:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'd':
strncpy(rpi_pca9685_pwm_out::_device, myoptarg, sizeof(rpi_pca9685_pwm_out::_device));
break;
case 'm':
strncpy(rpi_pca9685_pwm_out::_mixer_filename, myoptarg, sizeof(rpi_pca9685_pwm_out::_mixer_filename));
break;
}
}
// gets the parameters for the esc's pwm
param_get(param_find("PWM_DISARMED"), &rpi_pca9685_pwm_out::_pwm_disarmed);
param_get(param_find("PWM_MIN"), &rpi_pca9685_pwm_out::_pwm_min);
param_get(param_find("PWM_MAX"), &rpi_pca9685_pwm_out::_pwm_max);
/*
* Start/load the driver.
*/
if (!strcmp(verb, "start")) {
if (rpi_pca9685_pwm_out::_is_running) {
PX4_WARN("pwm_out already running");
return 1;
}
rpi_pca9685_pwm_out::start();
}
else if (!strcmp(verb, "stop")) {
if (!rpi_pca9685_pwm_out::_is_running) {
PX4_WARN("pwm_out is not running");
return 1;
}
rpi_pca9685_pwm_out::stop();
}
else if (!strcmp(verb, "status")) {
PX4_WARN("pwm_out is %s", rpi_pca9685_pwm_out::_is_running ? "running" : "not running");
return 0;
} else {
rpi_pca9685_pwm_out::usage();
return 1;
}
return 0;
}

127
src/drivers/rpi_pca9685_pwm_out/rpi_pca9685_pwm_out.h
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/****************************************************************************
*
* Copyright (c) 2015-2016 zhangfan. 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.
*
****************************************************************************/
#pragma once
#include <stdint.h>
#include <px4_tasks.h>
#include <px4_getopt.h>
#include <px4_posix.h>
#include <errno.h>
#include <cmath> // NAN
#include <uORB/uORB.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
#include <systemlib/mixer/mixer.h>
#include <systemlib/mixer/mixer_load.h>
#include <systemlib/param/param.h>
#include <systemlib/pwm_limit/pwm_limit.h>
#include "PCA9685.h"
namespace rpi_pca9685_pwm_out
{
static px4_task_t _task_handle = -1;
volatile bool _task_should_exit = false;
static bool _is_running = false;
static const int NUM_PWM = 4;
static char _device[64] = "/sys/class/pwm/pwmchip0";
//static int _pwm_fd[NUM_PWM];
static const int FREQUENCY_PWM = 400;
static char _mixer_filename[64] = "ROMFS/px4fmu_common/mixers/quad_x.main.mix";
// subscriptions
int _controls_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
int _armed_sub;
// publications
orb_advert_t _outputs_pub = nullptr;
orb_advert_t _rc_pub = nullptr;
// topic structures
actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
orb_id_t _controls_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
actuator_outputs_s _outputs;
actuator_armed_s _armed;
// polling
uint8_t _poll_fds_num = 0;
px4_pollfd_struct_t _poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
// control groups related
uint32_t _groups_required = 0;
uint32_t _groups_subscribed = 0;
pwm_limit_t _pwm_limit;
// esc parameters
int32_t _pwm_disarmed;
int32_t _pwm_min;
int32_t _pwm_max;
//PCA9685 device
::PCA9685 pwm;
MixerGroup *_mixer_group = nullptr;
void usage();
void start();
void stop();
int pwm_initialize();
void pwm_deinitialize();
void send_outputs_pwm(const uint16_t *pwm);
void task_main_trampoline(int argc, char *argv[]);
void subscribe();
void task_main(int argc, char *argv[]);
/* mixer initialization */
int initialize_mixer(const char *mixer_filename);
int mixer_control_callback(uintptr_t handle, uint8_t control_group,
uint8_t control_index, float &input);
}
extern "C" __EXPORT int rpi_pca9685_pwm_out_main(int, char **);