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params: use PWM_MAIN_* instead of PWM_FMU_*

This commit is contained in:
Beat Küng 2021-10-05 13:26:52 +02:00 committed by Daniel Agar
parent ba4a1ec6c4
commit ab1d76ae7d
15 changed files with 58 additions and 149 deletions
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8
ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc
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@ -46,10 +46,10 @@ param set-default CA_MC_R3_PY 0.1875
param set-default CA_MC_R3_CT 6.5
param set-default CA_MC_R3_KM -0.05
param set-default PWM_FMU_FUNC1 101
param set-default PWM_FMU_FUNC2 102
param set-default PWM_FMU_FUNC3 103
param set-default PWM_FMU_FUNC4 104
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
set MIXER skip
set MIXER_AUX none

12
ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc
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@ -76,12 +76,12 @@ param set-default CA_MC_R5_PY -0.5
param set-default CA_MC_R5_CT 9.5
param set-default CA_MC_R5_KM -0.05
param set-default PWM_FMU_FUNC1 101
param set-default PWM_FMU_FUNC2 102
param set-default PWM_FMU_FUNC3 103
param set-default PWM_FMU_FUNC4 104
param set-default PWM_FMU_FUNC5 105
param set-default PWM_FMU_FUNC6 106
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 105
param set-default PWM_MAIN_FUNC6 106
set MAV_TYPE 13

8
ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc
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@ -52,8 +52,8 @@ param set-default CA_MC_R3_PY 0.177
param set-default CA_MC_R3_CT 6.5
param set-default CA_MC_R3_KM -0.05
param set-default PWM_FMU_FUNC1 101
param set-default PWM_FMU_FUNC2 102
param set-default PWM_FMU_FUNC3 103
param set-default PWM_FMU_FUNC4 104
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104

12
ROMFS/px4fmu_common/init.d/airframes/6003_hexa_x_ctrlalloc
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@ -66,12 +66,12 @@ param set-default CA_MC_R5_PY -0.1375
param set-default CA_MC_R5_CT 6.5
param set-default CA_MC_R5_KM -0.05
param set-default PWM_FMU_FUNC1 101
param set-default PWM_FMU_FUNC2 102
param set-default PWM_FMU_FUNC3 103
param set-default PWM_FMU_FUNC4 104
param set-default PWM_FMU_FUNC5 105
param set-default PWM_FMU_FUNC6 106
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 105
param set-default PWM_MAIN_FUNC6 106
set MIXER skip
set MIXER_AUX none

19
Tools/module_config/generate_params.py
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@ -31,6 +31,9 @@ parser.add_argument('--ethernet', action='store_true',
help='Ethernet support')
parser.add_argument('--board', type=str, action='store',
help='board name, e.g. ')
parser.add_argument('--board-with-io', dest='board_with_io', action='store_true',
help='Indicate that the board as an IO for extra PWM',
default=False)
parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
help='Verbose Output')
@ -40,23 +43,30 @@ verbose = args.verbose
params_output_file = args.params_file
timer_config_file = args.timer_config
ethernet_supported = args.ethernet
board_with_io = args.board_with_io
board = args.board
root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../..")
output_functions_file = os.path.join(root_dir,"src/lib/mixer_module/output_functions.yaml")
def process_param_prefix(param_prefix):
if param_prefix == '${PWM_FMU_OR_HIL}':
if board == 'px4_sitl': return 'PWM_FMU'
if param_prefix == '${PWM_MAIN_OR_HIL}':
if board == 'px4_sitl': return 'PWM_MAIN'
return 'HIL_ACT'
if param_prefix == '${PWM_MAIN_OR_AUX}':
if board_with_io: return 'PWM_AUX'
return 'PWM_MAIN'
if '${' in param_prefix:
raise Exception('unhandled variable in {:}'.format(param_prefix))
return param_prefix
def process_channel_label(channel_label):
if channel_label == '${PWM_FMU_OR_HIL}':
if channel_label == '${PWM_MAIN_OR_HIL}':
if board == 'px4_sitl': return 'PWM Sim'
return 'HIL actuator'
if channel_label == '${PWM_MAIN_OR_AUX}':
if board_with_io: return 'PWM Aux'
return 'PWM Main'
if '${' in channel_label:
raise Exception('unhandled variable in {:}'.format(channel_label))
return channel_label
@ -171,9 +181,8 @@ def get_actuator_output_params(yaml_config, output_functions,
# We do this by extending the output_groups list and parse in a later iteration
if 'generator' in group:
if group['generator'] == 'pwm':
# We might set these depending on presence of IO in build...
param_prefix = process_param_prefix(group['param_prefix'])
channel_labels = group['channel_labels']
channel_labels = [process_channel_label(label) for label in group['channel_labels']]
standard_params = group.get('standard_params', [])
extra_function_groups = group.get('extra_function_groups', [])
pwm_timer_param = group.get('pwm_timer_param', None)

1
cmake/kconfig.cmake
View File

@ -256,6 +256,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
# IO board (placed in ROMFS)
if(IO)
set(config_io_board ${IO} CACHE INTERNAL "IO" FORCE)
add_definitions(-DBOARD_WITH_IO)
endif()
if(UAVCAN_PERIPHERALS)

7
src/drivers/dshot/DShot.h
View File

@ -140,7 +140,12 @@ private:
void update_telemetry_num_motors();
MixingOutput _mixing_output{"PWM_FMU", DIRECT_PWM_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
#ifdef BOARD_WITH_IO
# define PARAM_PREFIX "PWM_AUX"
#else
# define PARAM_PREFIX "PWM_MAIN"
#endif
MixingOutput _mixing_output {PARAM_PREFIX, DIRECT_PWM_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
Telemetry *_telemetry{nullptr};

7
src/drivers/pwm_out/PWMOut.hpp
View File

@ -130,7 +130,12 @@ private:
static const int MAX_PER_INSTANCE{8};
MixingOutput _mixing_output{"PWM_FMU", FMU_MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, true};
#ifdef BOARD_WITH_IO
# define PARAM_PREFIX "PWM_AUX"
#else
# define PARAM_PREFIX "PWM_MAIN"
#endif
MixingOutput _mixing_output {PARAM_PREFIX, FMU_MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, true};
uint32_t _backup_schedule_interval_us{1_s};

4
src/drivers/pwm_out/module.yaml
View File

@ -2,8 +2,8 @@ module_name: PWM Output
actuator_output:
output_groups:
- generator: pwm
param_prefix: PWM_FMU
channel_labels: ['PWM Main', 'PWM Capture']
param_prefix: '${PWM_MAIN_OR_AUX}'
channel_labels: ['${PWM_MAIN_OR_AUX}', 'PWM Capture']
standard_params:
disarmed: { min: 800, max: 2200, default: 900 }
min: { min: 800, max: 1400, default: 1000 }

2
src/drivers/pwm_out_sim/PWMSim.hpp
View File

@ -45,7 +45,7 @@
#include <uORB/topics/parameter_update.h>
#if defined(CONFIG_ARCH_BOARD_PX4_SITL)
#define PARAM_PREFIX "PWM_FMU"
#define PARAM_PREFIX "PWM_MAIN"
#else
#define PARAM_PREFIX "HIL_ACT"
#endif

4
src/drivers/pwm_out_sim/module.yaml
View File

@ -2,7 +2,7 @@
module_name: PWM Sim
actuator_output:
output_groups:
- param_prefix: ${PWM_FMU_OR_HIL}
channel_label: ${PWM_FMU_OR_HIL}
- param_prefix: ${PWM_MAIN_OR_HIL}
channel_label: ${PWM_MAIN_OR_HIL}
num_channels: 16

5
src/lib/parameters/CMakeLists.txt
View File

@ -79,6 +79,9 @@ endif()
if(PX4_ETHERNET)
set(added_arguments --ethernet)
endif()
if(config_io_board)
set(board_with_io_arg --board-with-io)
endif()
add_custom_command(OUTPUT ${generated_serial_params_file} ${generated_module_params_file}
COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_params_dir}
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
@ -87,7 +90,7 @@ add_custom_command(OUTPUT ${generated_serial_params_file} ${generated_module_par
--config-files ${module_config_files} #--verbose
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_params.py
--params-file ${generated_module_params_file}
${added_arguments}
${added_arguments} ${board_with_io_arg}
--timer-config ${PX4_BOARD_DIR}/src/timer_config.cpp
--config-files ${module_config_files} #--verbose
--board ${PX4_BOARD}

57
src/lib/pwm/pwm_aux_params.yaml
View File

@ -63,63 +63,6 @@ parameters:
max: 2200
default: 1500
PWM_AUX_MIN${i}:
description:
short: PWM aux ${i} minimum value
long: |
This is the minimum PWM pulse the autopilot is allowed to output.
When set to -1 the value for PWM_AUX_MIN will be used
type: int32
unit: us
min: -1
max: 1600
num_instances: *max_num_config_instances
instance_start: 1
default: -1
PWM_AUX_MAX${i}:
description:
short: PWM aux ${i} maximum value
long: |
This is the maximum PWM pulse the autopilot is allowed to output.
When set to -1 the value for PWM_AUX_MAX will be used
type: int32
unit: us
min: -1
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
default: -1
PWM_AUX_FAIL${i}:
description:
short: PWM aux ${i} failsafe value
long: |
This is the PWM pulse the autopilot is outputting if in failsafe mode.
When set to -1 the value is set automatically depending if the actuator
is a motor (900us) or a servo (1500us)
type: int32
unit: us
min: -1
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
default: -1
PWM_AUX_DIS${i}:
description:
short: PWM aux ${i} disarmed value
long: |
This is the PWM pulse the autopilot is outputting if not armed.
When set to -1 the value for PWM_AUX_DISARM will be used
type: int32
unit: us
min: -1
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
default: -1
PWM_AUX_TRIM${i}:
description:
short: PWM aux ${i} trim value

57
src/lib/pwm/pwm_main_params.yaml
View File

@ -63,63 +63,6 @@ parameters:
max: 2200
default: 900
PWM_MAIN_MIN${i}:
description:
short: PWM main ${i} minimum value
long: |
This is the minimum PWM pulse the autopilot is allowed to output.
When set to -1 the value for PWM_MAIN_MIN will be used
type: int32
unit: us
min: -1
max: 1600
num_instances: *max_num_config_instances
instance_start: 1
default: -1
PWM_MAIN_MAX${i}:
description:
short: PWM main ${i} maximum value
long: |
This is the maximum PWM pulse the autopilot is allowed to output.
When set to -1 the value for PWM_MAIN_MAX will be used
type: int32
unit: us
min: -1
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
default: -1
PWM_MAIN_FAIL${i}:
description:
short: PWM main ${i} failsafe value
long: |
This is the PWM pulse the autopilot is outputting if in failsafe mode.
When set to -1 the value is set automatically depending if the actuator
is a motor (900us) or a servo (1500us)
type: int32
unit: us
min: -1
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
default: -1
PWM_MAIN_DIS${i}:
description:
short: PWM main ${i} disarmed value
long: |
This is the PWM pulse the autopilot is outputting if not armed.
When set to -1 the value for PWM_MAIN_DISARM will be used
type: int32
unit: us
min: -1
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
default: -1
PWM_MAIN_TRIM${i}:
description:
short: PWM main ${i} trim value

4
validation/module_schema.yaml
View File

@ -240,10 +240,10 @@ actuator_output:
type: string
allowed: [ pwm ]
param_prefix:
# parameter prefix for the min/max/disarmed/func params, e.g. PWM_FMU.
# parameter prefix for the min/max/disarmed/func params, e.g. PWM_MAIN.
# This also needs to be specified in the source code.
type: string
regex: '([0-9A-Z_]+|\$\{PWM_FMU_OR_HIL\})'
regex: '([0-9A-Z_]+|\$\{PWM_MAIN_OR_AUX\}|\$\{PWM_MAIN_OR_HIL\})'
required: true
channel_label:
# Human-readable per-channel label (index will be added), e.g. 'PWM Main'