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pwm_out: cleanup and prep for linux compatibility

This commit is contained in:
Daniel Agar 2021-12-27 13:36:54 -05:00
parent 10f4a2e91f
commit 990d7c159d
5 changed files with 6 additions and 121 deletions
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13
ROMFS/px4fmu_common/init.d/rc.sensors
View File

@ -4,19 +4,6 @@
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
if ! ver hwcmp OMNIBUS_F4SD
then
if ! ver hwcmp BITCRAZE_CRAZYFLIE
then
# Configure all I2C buses to 100 KHz as they
# are all external or slow
# TODO: move this
pwm_out i2c 1 100000
pwm_out i2c 2 100000
fi
fi
###############################################################################
# Begin Optional drivers #
###############################################################################

8
boards/px4/fmu-v4/init/rc.board_sensors
View File

@ -5,14 +5,6 @@
board_adc start
# We know there are sketchy boards out there
# as chinese companies produce Pixracers without
# fully understanding the critical parts of the
# schematic and BOM, leading to sensor brownouts
# on boot. Original Pixracers following the
# open hardware design do not require this.
pwm_out sensor_reset 50
# Internal SPI
ms5611 -s start

3
boards/uvify/core/init/rc.board_extras
View File

@ -7,9 +7,6 @@
# IFO
if param compare SYS_AUTOSTART 4071
then
# Change rate to 400 Khz for fast barometer
#pwm_out i2c 1 400000
# IFO has only external i2c barometer.
# It does not start EKF2 in the beginning which is strange behaviour. but 3 seconds hack.
# We intentionally put this initialization to here for delayed initialization.

90
src/drivers/pwm_out/PWMOut.cpp
View File

@ -222,11 +222,6 @@ int PWMOut::set_pwm_rate(unsigned rate_map, unsigned default_rate, unsigned alt_
return OK;
}
int PWMOut::set_i2c_bus_clock(unsigned bus, unsigned clock_hz)
{
return device::I2C::set_bus_clock(bus, clock_hz);
}
void PWMOut::update_current_rate()
{
/*
@ -695,7 +690,7 @@ void PWMOut::update_params()
_num_disarmed_set = num_disarmed_set;
}
int PWMOut::ioctl(file *filp, int cmd, unsigned long arg)
int PWMOut::ioctl(device::file_t *filp, int cmd, unsigned long arg)
{
int ret = pwm_ioctl(filp, cmd, arg);
@ -707,7 +702,7 @@ int PWMOut::ioctl(file *filp, int cmd, unsigned long arg)
return ret;
}
int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
int PWMOut::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
{
int ret = OK;
@ -1094,34 +1089,6 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
return ret;
}
void PWMOut::sensor_reset(int ms)
{
if (ms < 1) {
ms = 1;
}
board_spi_reset(ms, 0xffff);
}
void PWMOut::peripheral_reset(int ms)
{
if (ms < 1) {
ms = 10;
}
board_peripheral_reset(ms);
}
namespace
{
int fmu_new_i2c_speed(unsigned bus, unsigned clock_hz)
{
return PWMOut::set_i2c_bus_clock(bus, clock_hz);
}
} // namespace
int PWMOut::test(const char *dev)
{
int fd;
@ -1267,50 +1234,6 @@ int PWMOut::custom_command(int argc, char *argv[])
const char *verb = argv[myoptind];
/* does not operate on a FMU instance */
if (!strcmp(verb, "i2c")) {
if (argc > 2) {
int bus = strtol(argv[1], 0, 0);
int clock_hz = strtol(argv[2], 0, 0);
int ret = fmu_new_i2c_speed(bus, clock_hz);
if (ret) {
PX4_ERR("setting I2C clock failed");
}
return ret;
}
return print_usage("not enough arguments");
}
if (!strcmp(verb, "sensor_reset")) {
if (argc > 1) {
int reset_time = strtol(argv[1], nullptr, 0);
sensor_reset(reset_time);
} else {
sensor_reset(0);
PX4_INFO("reset default time");
}
return 0;
}
if (!strcmp(verb, "peripheral_reset")) {
if (argc > 2) {
int reset_time = strtol(argv[2], 0, 0);
peripheral_reset(reset_time);
} else {
peripheral_reset(0);
PX4_INFO("reset default time");
}
return 0;
}
/* start pwm_out if not running */
if (!is_running()) {
@ -1394,15 +1317,6 @@ By default the module runs on a work queue with a callback on the uORB actuator_
PRINT_MODULE_USAGE_NAME("pwm_out", "driver");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_COMMAND_DESCR("sensor_reset", "Do a sensor reset (SPI bus)");
PRINT_MODULE_USAGE_ARG("<ms>", "Delay time in ms between reset and re-enabling", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("peripheral_reset", "Reset board peripherals");
PRINT_MODULE_USAGE_ARG("<ms>", "Delay time in ms between reset and re-enabling", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("i2c", "Configure I2C clock rate");
PRINT_MODULE_USAGE_ARG("<bus_id> <rate>", "Specify the bus id (>=0) and rate in Hz", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("test", "Test outputs");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();

13
src/drivers/pwm_out/PWMOut.hpp
View File

@ -37,8 +37,8 @@
#include <math.h>
#include <board_config.h>
#include <drivers/device/device.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
#include <drivers/drv_pwm_output.h>
@ -103,9 +103,9 @@ public:
static int test(const char *dev);
virtual int ioctl(file *filp, int cmd, unsigned long arg);
int ioctl(device::file_t *filp, int cmd, unsigned long arg) override;
virtual int init();
int init() override;
uint32_t get_pwm_mask() const { return _pwm_mask; }
void set_pwm_mask(uint32_t mask) { _pwm_mask = mask; }
@ -113,8 +113,6 @@ public:
unsigned get_alt_rate() const { return _pwm_alt_rate; }
unsigned get_default_rate() const { return _pwm_default_rate; }
static int set_i2c_bus_clock(unsigned bus, unsigned clock_hz);
bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated) override;
@ -158,15 +156,12 @@ private:
void update_current_rate();
int set_pwm_rate(unsigned rate_map, unsigned default_rate, unsigned alt_rate);
int pwm_ioctl(file *filp, int cmd, unsigned long arg);
int pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg);
bool update_pwm_out_state(bool on);
void update_params();
static void sensor_reset(int ms);
static void peripheral_reset(int ms);
PWMOut(const PWMOut &) = delete;
PWMOut operator=(const PWMOut &) = delete;