forked from Archive/PX4-Autopilot
Changes for multi-rate PWM output; default and alternate rates. ioctl protocol, PX4IO support.
This commit is contained in:
px4dev
parent
6b947a67d0
commit
6cf0758b24
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@ -36,7 +36,7 @@
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*
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* Servo values can be set with the PWM_SERVO_SET ioctl, by writing a
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* pwm_output_values structure to the device, or by publishing to the
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* output_pwm ObjDev.
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* output_pwm ORB topic.
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* Writing a value of 0 to a channel suppresses any output for that
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* channel.
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*/
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@ -60,7 +60,7 @@ __BEGIN_DECLS
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#define PWM_OUTPUT_DEVICE_PATH "/dev/pwm_output"
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/**
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* Maximum number of PWM output channels in the system.
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* Maximum number of PWM output channels supported by the device.
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*/
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#define PWM_OUTPUT_MAX_CHANNELS 16
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@ -82,14 +82,14 @@ struct pwm_output_values {
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};
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/*
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* ObjDev tag for PWM outputs.
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* ORB tag for PWM outputs.
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*/
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ORB_DECLARE(output_pwm);
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/*
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* ioctl() definitions
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*
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* Note that ioctls and ObjDev updates should not be mixed, as the
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* Note that ioctls and ORB updates should not be mixed, as the
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* behaviour of the system in this case is not defined.
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*/
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#define _PWM_SERVO_BASE 0x2a00
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@ -100,20 +100,14 @@ ORB_DECLARE(output_pwm);
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/** disarm all servo outputs (stop generating pulses) */
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#define PWM_SERVO_DISARM _IOC(_PWM_SERVO_BASE, 1)
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/** set update rate in Hz */
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/** set alternate servo update rate */
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#define PWM_SERVO_SET_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 2)
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/** get the number of servos in *(unsigned *)arg */
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#define PWM_SERVO_GET_COUNT _IOC(_PWM_SERVO_BASE, 3)
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/** set debug level for servo IO */
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#define PWM_SERVO_SET_DEBUG _IOC(_PWM_SERVO_BASE, 4)
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/** enable in-air restart */
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#define PWM_SERVO_INAIR_RESTART_ENABLE _IOC(_PWM_SERVO_BASE, 5)
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/** disable in-air restart */
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#define PWM_SERVO_INAIR_RESTART_DISABLE _IOC(_PWM_SERVO_BASE, 6)
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/** selects servo update rates, one bit per servo. 0 = default (50Hz), 1 = alternate */
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#define PWM_SERVO_SELECT_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 4)
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/** set a single servo to a specific value */
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#define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo)
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@ -121,6 +115,10 @@ ORB_DECLARE(output_pwm);
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/** get a single specific servo value */
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#define PWM_SERVO_GET(_servo) _IOC(_PWM_SERVO_BASE, 0x40 + _servo)
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/** get the _n'th rate group's channels; *(uint32_t *)arg returns a bitmap of channels
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* whose update rates must be the same.
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*/
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#define PWM_SERVO_GET_RATEGROUP(_n) _IOC(_PWM_SERVO_BASE, 0x60 + _n)
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/*
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* Low-level PWM output interface.
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@ -157,13 +155,32 @@ __EXPORT extern void up_pwm_servo_deinit(void);
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__EXPORT extern void up_pwm_servo_arm(bool armed);
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/**
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* Set the servo update rate
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* Set the servo update rate for all rate groups.
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*
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* @param rate The update rate in Hz to set.
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* @return OK on success, -ERANGE if an unsupported update rate is set.
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*/
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__EXPORT extern int up_pwm_servo_set_rate(unsigned rate);
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/**
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* Get a bitmap of output channels assigned to a given rate group.
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*
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* @param group The rate group to query. Rate groups are assigned contiguously
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* starting from zero.
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* @return A bitmap of channels assigned to the rate group, or zero if
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* the group number has no channels.
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*/
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__EXPORT extern uint32_t up_pwm_servo_get_rate_group(unsigned group);
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/**
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* Set the update rate for a given rate group.
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*
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* @param group The rate group whose update rate will be changed.
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* @param rate The update rate in Hz.
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* @return OK if the group was adjusted, -ERANGE if an unsupported update rate is set.
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*/
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__EXPORT extern int up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate);
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/**
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* Set the current output value for a channel.
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*
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@ -86,6 +86,8 @@
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#include "uploader.h"
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#include <debug.h>
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#define PX4IO_SET_DEBUG _IOC(0xff00, 0)
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#define PX4IO_INAIR_RESTART_ENABLE _IOC(0xff00, 1)
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class PX4IO : public device::I2C
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{
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@ -1223,14 +1225,15 @@ PX4IO::print_status()
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((flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC) ? " ARM_SYNC" : " ARM_NO_SYNC"),
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((flags & PX4IO_P_STATUS_FLAGS_INIT_OK) ? " INIT_OK" : " INIT_FAIL"));
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uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS);
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printf("alarms 0x%04x%s%s%s%s%s%s\n",
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printf("alarms 0x%04x%s%s%s%s%s%s%s\n",
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alarms,
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((alarms & PX4IO_P_STATUS_ALARMS_VBATT_LOW) ? " VBATT_LOW" : ""),
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((alarms & PX4IO_P_STATUS_ALARMS_TEMPERATURE) ? " TEMPERATURE" : ""),
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((alarms & PX4IO_P_STATUS_ALARMS_SERVO_CURRENT) ? " SERVO_CURRENT" : ""),
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((alarms & PX4IO_P_STATUS_ALARMS_ACC_CURRENT) ? " ACC_CURRENT" : ""),
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((alarms & PX4IO_P_STATUS_ALARMS_FMU_LOST) ? " FMU_LOST" : ""),
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((alarms & PX4IO_P_STATUS_ALARMS_RC_LOST) ? " RC_LOST" : ""));
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((alarms & PX4IO_P_STATUS_ALARMS_RC_LOST) ? " RC_LOST" : ""),
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((alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) ? " PWM_ERROR" : ""));
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printf("vbatt %u ibatt %u\n",
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io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VBATT),
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io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT));
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@ -1269,10 +1272,10 @@ PX4IO::print_status()
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((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? " MANUAL_OVERRIDE_OK" : ""),
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((arming & PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK) ? " VECTOR_FLIGHT_OK" : ""),
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((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : ""));
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printf("rates 0x%04x lowrate %u highrate %u relays 0x%04x\n",
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printf("rates 0x%04x default %u alt %u relays 0x%04x\n",
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io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES),
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io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_LOWRATE),
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io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_HIGHRATE),
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io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE),
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io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE),
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io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS));
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printf("vbatt scale %u ibatt scale %u ibatt bias %u\n",
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io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE),
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@ -1320,36 +1323,39 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
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ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_ARM_OK, 0);
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break;
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case PWM_SERVO_INAIR_RESTART_ENABLE:
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/* set the 'in-air restart' bit */
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ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK);
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break;
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case PWM_SERVO_INAIR_RESTART_DISABLE:
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/* unset the 'in-air restart' bit */
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ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK, 0);
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break;
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case PWM_SERVO_SET_UPDATE_RATE:
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/* set the requested rate */
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if ((arg >= 50) && (arg <= 400)) {
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ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_HIGHRATE, arg);
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/* set the requested alternate rate */
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if ((arg >= 50) && (arg <= 400)) { /* TODO: we could go higher for e.g. TurboPWM */
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ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE, arg);
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} else {
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ret = -EINVAL;
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}
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break;
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case PWM_SERVO_SELECT_UPDATE_RATE: {
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/* blindly clear the PWM update alarm - might be set for some other reason */
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io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, PX4IO_P_STATUS_ALARMS_PWM_ERROR);
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/* attempt to set the rate map */
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io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES, arg);
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/* check that the changes took */
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uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS);
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if (alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) {
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ret = -EINVAL;
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io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, PX4IO_P_STATUS_ALARMS_PWM_ERROR);
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}
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break;
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}
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case PWM_SERVO_GET_COUNT:
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*(unsigned *)arg = _max_actuators;
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break;
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case PWM_SERVO_SET_DEBUG:
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/* set the debug level */
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ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG, arg);
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break;
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case PWM_SERVO_SET(0) ... PWM_SERVO_SET(PWM_OUTPUT_MAX_CHANNELS): {
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case PWM_SERVO_SET(0) ... PWM_SERVO_SET(PWM_OUTPUT_MAX_CHANNELS - 1): {
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/* TODO: we could go lower for e.g. TurboPWM */
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unsigned channel = cmd - PWM_SERVO_SET(0);
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if ((channel >= _max_actuators) || (arg < 900) || (arg > 2100)) {
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ret = -EINVAL;
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@ -1361,7 +1367,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
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break;
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}
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case PWM_SERVO_GET(0) ... PWM_SERVO_GET(PWM_OUTPUT_MAX_CHANNELS): {
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case PWM_SERVO_GET(0) ... PWM_SERVO_GET(PWM_OUTPUT_MAX_CHANNELS - 1): {
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unsigned channel = cmd - PWM_SERVO_GET(0);
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@ -1379,6 +1385,16 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
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break;
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}
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case PWM_SERVO_GET_RATEGROUP(0) ... PWM_SERVO_GET_RATEGROUP(PWM_OUTPUT_MAX_CHANNELS - 1): {
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unsigned channel = cmd - PWM_SERVO_GET_RATEGROUP(0);
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uint32_t value = io_reg_get(PX4IO_PAGE_PWM_INFO, PX4IO_RATE_MAP_BASE + channel);
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*(uint32_t *)arg = value;
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break;
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}
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case GPIO_RESET:
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ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, 0);
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break;
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@ -1443,6 +1459,20 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
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break;
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}
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case PX4IO_SET_DEBUG:
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/* set the debug level */
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ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG, arg);
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break;
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case PX4IO_INAIR_RESTART_ENABLE:
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/* set/clear the 'in-air restart' bit */
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if (arg) {
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ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK);
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} else {
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ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK, 0);
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}
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break;
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default:
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/* not a recognized value */
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ret = -ENOTTY;
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@ -1602,7 +1632,7 @@ px4io_main(int argc, char *argv[])
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* We can cheat and call the driver directly, as it
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* doesn't reference filp in ioctl()
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*/
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g_dev->ioctl(NULL, PWM_SERVO_INAIR_RESTART_ENABLE, 0);
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g_dev->ioctl(NULL, PX4IO_INAIR_RESTART_ENABLE, 1);
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} else {
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errx(1, "not loaded");
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}
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@ -1646,7 +1676,7 @@ px4io_main(int argc, char *argv[])
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/* we can cheat and call the driver directly, as it
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* doesn't reference filp in ioctl()
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*/
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int ret = g_dev->ioctl(NULL, PWM_SERVO_SET_DEBUG, level);
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int ret = g_dev->ioctl(NULL, PX4IO_SET_DEBUG, level);
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if (ret != 0) {
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printf("SET_DEBUG failed - %d\n", ret);
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exit(1);
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@ -68,10 +68,6 @@
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#include <stm32_gpio.h>
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#include <stm32_tim.h>
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/* default rate (in Hz) of PWM updates */
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static uint32_t pwm_update_rate = 50;
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#define REG(_tmr, _reg) (*(volatile uint32_t *)(pwm_timers[_tmr].base + _reg))
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#define rCR1(_tmr) REG(_tmr, STM32_GTIM_CR1_OFFSET)
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@ -93,6 +89,10 @@ static uint32_t pwm_update_rate = 50;
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#define rDCR(_tmr) REG(_tmr, STM32_GTIM_DCR_OFFSET)
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#define rDMAR(_tmr) REG(_tmr, STM32_GTIM_DMAR_OFFSET)
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static void pwm_timer_init(unsigned timer);
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static void pwm_timer_set_rate(unsigned timer, unsigned rate);
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static void pwm_channel_init(unsigned channel);
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static void
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pwm_timer_init(unsigned timer)
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{
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@ -113,11 +113,8 @@ pwm_timer_init(unsigned timer)
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/* configure the timer to free-run at 1MHz */
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rPSC(timer) = (pwm_timers[timer].clock_freq / 1000000) - 1;
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/* and update at the desired rate */
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rARR(timer) = (1000000 / pwm_update_rate) - 1;
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/* generate an update event; reloads the counter and all registers */
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rEGR(timer) = GTIM_EGR_UG;
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/* default to updating at 50Hz */
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pwm_timer_set_rate(timer, 50);
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/* note that the timer is left disabled - arming is performed separately */
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}
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@ -272,19 +269,41 @@ up_pwm_servo_deinit(void)
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}
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int
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up_pwm_servo_set_rate(unsigned rate)
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up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate)
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{
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if ((rate < 50) || (rate > 400))
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/* limit update rate to 1..10000Hz; somewhat arbitrary but safe */
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if (rate < 1)
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return -ERANGE;
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if (rate > 10000)
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return -ERANGE;
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for (unsigned i = 0; i < PWM_SERVO_MAX_TIMERS; i++) {
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if (pwm_timers[i].base != 0)
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pwm_timer_set_rate(i, rate);
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}
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if ((group >= PWM_SERVO_MAX_TIMERS) || (pwm_timers[group].base == 0))
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return ERROR;
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pwm_timer_set_rate(group, rate);
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return OK;
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}
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int
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up_pwm_servo_set_rate(unsigned rate)
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{
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for (unsigned i = 0; i < PWM_SERVO_MAX_TIMERS; i++)
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up_pwm_servo_set_rate_group_update(i, rate);
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}
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uint32_t
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up_pwm_servo_get_rate_group(unsigned group)
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{
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unsigned channels = 0;
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for (unsigned i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) {
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if ((pwm_channels[i].gpio != 0) && (pwm_channels[i].timer_index == group))
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channels |= (1 << i);
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}
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return channels;
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}
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void
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up_pwm_servo_arm(bool armed)
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{
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@ -112,6 +112,7 @@
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#define PX4IO_P_STATUS_ALARMS_ACC_CURRENT (1 << 3) /* accessory current limit was exceeded */
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#define PX4IO_P_STATUS_ALARMS_FMU_LOST (1 << 4) /* timed out waiting for controls from FMU */
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#define PX4IO_P_STATUS_ALARMS_RC_LOST (1 << 5) /* timed out waiting for RC input */
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#define PX4IO_P_STATUS_ALARMS_PWM_ERROR (1 << 6) /* PWM configuration or output was bad */
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#define PX4IO_P_STATUS_VBATT 4 /* battery voltage in mV */
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#define PX4IO_P_STATUS_IBATT 5 /* battery current in cA */
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@ -135,6 +136,10 @@
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/* array of raw ADC values */
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#define PX4IO_PAGE_RAW_ADC_INPUT 6 /* 0..CONFIG_ADC_INPUT_COUNT-1 */
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/* PWM servo information */
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#define PX4IO_PAGE_PWM_INFO 7
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#define PX4IO_RATE_MAP_BASE 0 /* 0..CONFIG_ACTUATOR_COUNT bitmaps of PWM rate groups */
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/* setup page */
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#define PX4IO_PAGE_SETUP 100
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#define PX4IO_P_SETUP_FEATURES 0
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|
|
@ -146,8 +151,8 @@
|
|||
#define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */
|
||||
|
||||
#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */
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||||
#define PX4IO_P_SETUP_PWM_LOWRATE 3 /* 'low' PWM frame output rate in Hz */
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||||
#define PX4IO_P_SETUP_PWM_HIGHRATE 4 /* 'high' PWM frame output rate in Hz */
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||||
#define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */
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||||
#define PX4IO_P_SETUP_PWM_ALTRATE 4 /* 'high' PWM frame output rate in Hz */
|
||||
#define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */
|
||||
#define PX4IO_P_SETUP_VBATT_SCALE 6 /* battery voltage correction factor (float) */
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||||
#define PX4IO_P_SETUP_IBATT_SCALE 7 /* battery current scaling factor (float) */
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|
|
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|||
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|
@ -94,8 +94,8 @@ extern uint16_t r_page_servo_failsafe[]; /* PX4IO_PAGE_FAILSAFE_PWM */
|
|||
#define r_setup_features r_page_setup[PX4IO_P_SETUP_FEATURES]
|
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#define r_setup_arming r_page_setup[PX4IO_P_SETUP_ARMING]
|
||||
#define r_setup_pwm_rates r_page_setup[PX4IO_P_SETUP_PWM_RATES]
|
||||
#define r_setup_pwm_lowrate r_page_setup[PX4IO_P_SETUP_PWM_LOWRATE]
|
||||
#define r_setup_pwm_highrate r_page_setup[PX4IO_P_SETUP_PWM_HIGHRATE]
|
||||
#define r_setup_pwm_defaultrate r_page_setup[PX4IO_P_SETUP_PWM_DEFAULTRATE]
|
||||
#define r_setup_pwm_altrate r_page_setup[PX4IO_P_SETUP_PWM_ALTRATE]
|
||||
#define r_setup_relays r_page_setup[PX4IO_P_SETUP_RELAYS]
|
||||
|
||||
#define r_control_values (&r_page_controls[0])
|
||||
|
|
|
|||
|
|
@ -48,6 +48,7 @@
|
|||
#include "protocol.h"
|
||||
|
||||
static int registers_set_one(uint8_t page, uint8_t offset, uint16_t value);
|
||||
static void pwm_configure_rates(uint16_t map, uint16_t defaultrate, uint16_t altrate);
|
||||
|
||||
/**
|
||||
* PAGE 0
|
||||
|
|
@ -116,11 +117,12 @@ uint16_t r_page_rc_input[] = {
|
|||
};
|
||||
|
||||
/**
|
||||
* PAGE 6
|
||||
* Scratch page; used for registers that are constructed as-read.
|
||||
*
|
||||
* Raw ADC input.
|
||||
* PAGE 6 Raw ADC input.
|
||||
* PAGE 7 PWM rate maps.
|
||||
*/
|
||||
uint16_t r_page_adc[ADC_CHANNEL_COUNT];
|
||||
uint16_t r_page_scratch[32];
|
||||
|
||||
/**
|
||||
* PAGE 100
|
||||
|
|
@ -132,8 +134,8 @@ volatile uint16_t r_page_setup[] =
|
|||
[PX4IO_P_SETUP_FEATURES] = 0,
|
||||
[PX4IO_P_SETUP_ARMING] = 0,
|
||||
[PX4IO_P_SETUP_PWM_RATES] = 0,
|
||||
[PX4IO_P_SETUP_PWM_LOWRATE] = 50,
|
||||
[PX4IO_P_SETUP_PWM_HIGHRATE] = 200,
|
||||
[PX4IO_P_SETUP_PWM_DEFAULTRATE] = 50,
|
||||
[PX4IO_P_SETUP_PWM_ALTRATE] = 200,
|
||||
[PX4IO_P_SETUP_RELAYS] = 0,
|
||||
[PX4IO_P_SETUP_VBATT_SCALE] = 10000,
|
||||
[PX4IO_P_SETUP_IBATT_SCALE] = 0,
|
||||
|
|
@ -321,26 +323,23 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
|
|||
|
||||
case PX4IO_P_SETUP_PWM_RATES:
|
||||
value &= PX4IO_P_SETUP_RATES_VALID;
|
||||
r_setup_pwm_rates = value;
|
||||
/* XXX re-configure timers */
|
||||
pwm_configure_rates(value, r_setup_pwm_defaultrate, r_setup_pwm_altrate);
|
||||
break;
|
||||
|
||||
case PX4IO_P_SETUP_PWM_LOWRATE:
|
||||
case PX4IO_P_SETUP_PWM_DEFAULTRATE:
|
||||
if (value < 50)
|
||||
value = 50;
|
||||
if (value > 400)
|
||||
value = 400;
|
||||
r_setup_pwm_lowrate = value;
|
||||
/* XXX re-configure timers */
|
||||
pwm_configure_rates(r_setup_pwm_rates, value, r_setup_pwm_altrate);
|
||||
break;
|
||||
|
||||
case PX4IO_P_SETUP_PWM_HIGHRATE:
|
||||
case PX4IO_P_SETUP_PWM_ALTRATE:
|
||||
if (value < 50)
|
||||
value = 50;
|
||||
if (value > 400)
|
||||
value = 400;
|
||||
r_setup_pwm_highrate = value;
|
||||
/* XXX re-configure timers */
|
||||
pwm_configure_rates(r_setup_pwm_rates, r_setup_pwm_defaultrate, value);
|
||||
break;
|
||||
|
||||
case PX4IO_P_SETUP_RELAYS:
|
||||
|
|
@ -529,10 +528,19 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val
|
|||
break;
|
||||
|
||||
case PX4IO_PAGE_RAW_ADC_INPUT:
|
||||
r_page_adc[0] = adc_measure(ADC_VBATT);
|
||||
r_page_adc[1] = adc_measure(ADC_IN5);
|
||||
memset(r_page_scratch, 0, sizeof(r_page_scratch));
|
||||
r_page_scratch[0] = adc_measure(ADC_VBATT);
|
||||
r_page_scratch[1] = adc_measure(ADC_IN5);
|
||||
|
||||
SELECT_PAGE(r_page_adc);
|
||||
SELECT_PAGE(r_page_scratch);
|
||||
break;
|
||||
|
||||
case PX4IO_PAGE_PWM_INFO:
|
||||
memset(r_page_scratch, 0, sizeof(r_page_scratch));
|
||||
for (unsigned i = 0; i < IO_SERVO_COUNT; i++)
|
||||
r_page_scratch[PX4IO_RATE_MAP_BASE + i] = up_pwm_servo_get_rate_group(i);
|
||||
|
||||
SELECT_PAGE(r_page_scratch);
|
||||
break;
|
||||
|
||||
/*
|
||||
|
|
@ -593,3 +601,44 @@ last_offset = offset;
|
|||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/*
|
||||
* Helper function to handle changes to the PWM rate control registers.
|
||||
*/
|
||||
static void
|
||||
pwm_configure_rates(uint16_t map, uint16_t defaultrate, uint16_t altrate)
|
||||
{
|
||||
for (unsigned pass = 0; pass < 2; pass++) {
|
||||
for (unsigned group = 0; group < IO_SERVO_COUNT; group++) {
|
||||
|
||||
/* get the channel mask for this rate group */
|
||||
uint32_t mask = up_pwm_servo_get_rate_group(group);
|
||||
if (mask == 0)
|
||||
continue;
|
||||
|
||||
/* all channels in the group must be either high or low-rate */
|
||||
uint32_t high = map & mask;
|
||||
|
||||
if (pass == 0) {
|
||||
/* preflight */
|
||||
if ((high != 0) && (high != mask)) {
|
||||
/* not a legal map, bail with an alarm */
|
||||
r_status_alarms |= PX4IO_P_STATUS_ALARMS_PWM_ERROR;
|
||||
return;
|
||||
}
|
||||
} else {
|
||||
/* set it - errors here are unexpected */
|
||||
if (high != 0) {
|
||||
if (up_pwm_servo_set_rate_group_update(group, r_setup_pwm_altrate) != OK)
|
||||
r_status_alarms |= PX4IO_P_STATUS_ALARMS_PWM_ERROR;
|
||||
} else {
|
||||
if (up_pwm_servo_set_rate_group_update(group, r_setup_pwm_defaultrate) != OK)
|
||||
r_status_alarms |= PX4IO_P_STATUS_ALARMS_PWM_ERROR;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
r_setup_pwm_rates = map;
|
||||
r_setup_pwm_defaultrate = defaultrate;
|
||||
r_setup_pwm_altrate = altrate;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue