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px4-firmware
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Merged PWM fixes

This commit is contained in:
Lorenz Meier 2012-12-18 12:32:19 +01:00
parent 97a94e3b89 76895af6eb
commit 4c2862f6c0
3 changed files with 85 additions and 55 deletions
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2
apps/drivers/drv_pwm_output.h
View File

@ -95,7 +95,7 @@ ORB_DECLARE(output_pwm);
* Note that ioctls and ObjDev updates should not be mixed, as the
* behaviour of the system in this case is not defined.
*/
#define _PWM_SERVO_BASE 0x2700
#define _PWM_SERVO_BASE 0x2a00
/** arm all servo outputs handle by this driver */
#define PWM_SERVO_ARM _IOC(_PWM_SERVO_BASE, 0)

61
apps/drivers/px4fmu/fmu.cpp
View File

@ -60,6 +60,7 @@
#include <drivers/boards/px4fmu/px4fmu_internal.h>
#include <systemlib/systemlib.h>
#include <systemlib/err.h>
#include <systemlib/mixer/mixer.h>
#include <drivers/drv_mixer.h>
@ -180,6 +181,7 @@ PX4FMU::~PX4FMU()
_task_should_exit = true;
unsigned i = 10;
do {
/* wait 50ms - it should wake every 100ms or so worst-case */
usleep(50000);
@ -215,6 +217,7 @@ PX4FMU::init()
/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
if (ret == OK) {
log("default PWM output device");
_primary_pwm_device = true;
@ -282,6 +285,7 @@ PX4FMU::set_mode(Mode mode)
default:
return -EINVAL;
}
_mode = mode;
return OK;
}
@ -341,6 +345,7 @@ PX4FMU::task_main()
/* handle update rate changes */
if (_current_update_rate != _update_rate) {
int update_rate_in_ms = int(1000 / _update_rate);
/* reject faster than 500 Hz updates */
if (update_rate_in_ms < 2) {
update_rate_in_ms = 2;
@ -351,6 +356,7 @@ PX4FMU::task_main()
update_rate_in_ms = 20;
_update_rate = 50;
}
orb_set_interval(_t_actuators, update_rate_in_ms);
up_pwm_servo_set_rate(_update_rate);
_current_update_rate = _update_rate;
@ -448,6 +454,7 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
/* try it as a GPIO ioctl first */
ret = gpio_ioctl(filp, cmd, arg);
if (ret != -ENOTTY)
return ret;
@ -457,6 +464,7 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
case MODE_4PWM:
ret = pwm_ioctl(filp, cmd, arg);
break;
default:
debug("not in a PWM mode");
break;
@ -574,8 +582,10 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
}
_mixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
if (_mixers == nullptr) {
ret = -ENOMEM;
} else {
debug("loading mixers from %s", path);
@ -638,12 +648,15 @@ PX4FMU::gpio_set_function(uint32_t gpios, int function)
case GPIO_SET_INPUT:
stm32_configgpio(_gpio_tab[i].input);
break;
case GPIO_SET_OUTPUT:
stm32_configgpio(_gpio_tab[i].output);
break;
case GPIO_SET_ALT_1:
if (_gpio_tab[i].alt != 0)
stm32_configgpio(_gpio_tab[i].alt);
break;
}
}
@ -786,6 +799,7 @@ fmu_new_mode(PortMode new_mode, int update_rate)
/* (re)set the PWM output mode */
g_fmu->set_mode(servo_mode);
if ((servo_mode != PX4FMU::MODE_NONE) && (update_rate != 0))
g_fmu->set_pwm_rate(update_rate);
@ -824,13 +838,18 @@ test(void)
fd = open(PWM_OUTPUT_DEVICE_PATH, 0);
if (fd < 0) {
puts("open fail");
exit(1);
}
if (fd < 0)
errx(1, "open fail");
ioctl(fd, PWM_SERVO_ARM, 0);
ioctl(fd, PWM_SERVO_SET(0), 1000);
if (ioctl(fd, PWM_SERVO_ARM, 0) < 0) err(1, "servo arm failed");
if (ioctl(fd, PWM_SERVO_SET(0), 1000) < 0) err(1, "servo 1 set failed");
if (ioctl(fd, PWM_SERVO_SET(1), 1200) < 0) err(1, "servo 2 set failed");
if (ioctl(fd, PWM_SERVO_SET(2), 1400) < 0) err(1, "servo 3 set failed");
if (ioctl(fd, PWM_SERVO_SET(3), 1600) < 0) err(1, "servo 4 set failed");
close(fd);
@ -840,10 +859,8 @@ test(void)
void
fake(int argc, char *argv[])
{
if (argc < 5) {
puts("fmu fake <roll> <pitch> <yaw> <thrust> (values -100 .. 100)");
exit(1);
}
if (argc < 5)
errx(1, "fmu fake <roll> <pitch> <yaw> <thrust> (values -100 .. 100)");
actuator_controls_s ac;
@ -857,10 +874,18 @@ fake(int argc, char *argv[])
orb_advert_t handle = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &ac);
if (handle < 0) {
puts("advertise failed");
exit(1);
}
if (handle < 0)
errx(1, "advertise failed");
actuator_armed_s aa;
aa.armed = true;
aa.lockdown = false;
handle = orb_advertise(ORB_ID(actuator_armed), &aa);
if (handle < 0)
errx(1, "advertise failed 2");
exit(0);
}
@ -914,12 +939,14 @@ fmu_main(int argc, char *argv[])
if (new_mode == PORT_FULL_PWM || new_mode == PORT_PWM_AND_GPIO) {
if (argc > i + 1) {
pwm_update_rate_in_hz = atoi(argv[i + 1]);
} else {
fprintf(stderr, "missing argument for pwm update rate (-u)\n");
errx(1, "missing argument for pwm update rate (-u)");
return 1;
}
} else {
fprintf(stderr, "pwm update rate currently only supported for mode_pwm, mode_pwm_gpio\n");
errx(1, "pwm update rate currently only supported for mode_pwm, mode_pwm_gpio");
}
}
}
@ -939,5 +966,5 @@ fmu_main(int argc, char *argv[])
fprintf(stderr, "FMU: unrecognised command, try:\n");
fprintf(stderr, " mode_gpio, mode_serial, mode_pwm [-u pwm_update_rate_in_hz], mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio\n");
return -EINVAL;
exit(1);
}

51
apps/drivers/stm32/drv_pwm_servo.c
View File

@ -60,13 +60,13 @@
#include "drv_pwm_servo.h"
#include "chip.h"
#include "up_internal.h"
#include "up_arch.h"
#include <chip.h>
#include <up_internal.h>
#include <up_arch.h>
#include "stm32_internal.h"
#include "stm32_gpio.h"
#include "stm32_tim.h"
#include <stm32_internal.h>
#include <stm32_gpio.h>
#include <stm32_tim.h>
/* default rate (in Hz) of PWM updates */
@ -143,27 +143,27 @@ pwm_channel_init(unsigned channel)
/* configure the channel */
switch (pwm_channels[channel].timer_channel) {
case 1:
rCCMR1(timer) |= (6 << 4);
rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC1M_SHIFT) | GTIM_CCMR1_OC1PE;
rCCR1(timer) = pwm_channels[channel].default_value;
rCCER(timer) |= (1 << 0);
rCCER(timer) |= GTIM_CCER_CC1E;
break;
case 2:
rCCMR1(timer) |= (6 << 12);
rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC2M_SHIFT) | GTIM_CCMR1_OC2PE;
rCCR2(timer) = pwm_channels[channel].default_value;
rCCER(timer) |= (1 << 4);
rCCER(timer) |= GTIM_CCER_CC2E;
break;
case 3:
rCCMR2(timer) |= (6 << 4);
rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC3M_SHIFT) | GTIM_CCMR2_OC3PE;
rCCR3(timer) = pwm_channels[channel].default_value;
rCCER(timer) |= (1 << 8);
rCCER(timer) |= GTIM_CCER_CC3E;
break;
case 4:
rCCMR2(timer) |= (6 << 12);
rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC4M_SHIFT) | GTIM_CCMR2_OC4PE;
rCCR4(timer) = pwm_channels[channel].default_value;
rCCER(timer) |= (1 << 12);
rCCER(timer) |= GTIM_CCER_CC4E;
break;
}
}
@ -288,17 +288,20 @@ up_pwm_servo_set_rate(unsigned rate)
void
up_pwm_servo_arm(bool armed)
{
/*
* XXX this is inelgant and in particular will either jam outputs at whatever level
* they happen to be at at the time the timers stop or generate runts.
* The right thing is almost certainly to kill auto-reload on the timers so that
* they just stop at the end of their count for disable, and to reset/restart them
* for enable.
*/
/* iterate timers and arm/disarm appropriately */
for (unsigned i = 0; i < PWM_SERVO_MAX_TIMERS; i++) {
if (pwm_timers[i].base != 0)
rCR1(i) = armed ? GTIM_CR1_CEN : 0;
if (pwm_timers[i].base != 0) {
if (armed) {
/* force an update to preload all registers */
rEGR(i) = GTIM_EGR_UG;
/* arm requires the timer be enabled */
rCR1(i) |= GTIM_CR1_CEN | GTIM_CR1_ARPE;
} else {
/* on disarm, just stop auto-reload so we don't generate runts */
rCR1(i) &= ~GTIM_CR1_ARPE;
}
}
}
}