forked from Archive/PX4-Autopilot
Using Actuator Control Group 0 & Checkstyle fixes
This commit is contained in:
Miguel Arroyo
Lorenz Meier
parent
76ee17e532
commit
b871b322d2
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@ -60,6 +60,7 @@ static const int NUM_PWM = 4;
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static char _device[32] = "/sys/class/pwm/pwmchip0";
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static int _pwm_fd[NUM_PWM];
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static const int FREQUENCY_PWM = 400;
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static const char *MIXER_FILENAME = "";
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// subscriptions
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@ -108,318 +109,326 @@ int mixer_control_callback(uintptr_t handle, uint8_t control_group, uint8_t cont
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int mixer_control_callback(uintptr_t handle,
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uint8_t control_group,
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uint8_t control_index,
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float &input)
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uint8_t control_group,
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uint8_t control_index,
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float &input)
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{
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const actuator_controls_s *controls = (actuator_controls_s *)handle;
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const actuator_controls_s *controls = (actuator_controls_s *)handle;
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input = controls[control_group].control[control_index];
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input = controls[control_group].control[control_index];
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return 0;
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return 0;
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}
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int initialize_mixer(const char *mixer_filename)
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{
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char buf[2048];
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size_t buflen = sizeof(buf);
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char buf[2048];
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size_t buflen = sizeof(buf);
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PX4_INFO("Trying to initialize mixer from config file %s", mixer_filename);
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PX4_INFO("Trying to initialize mixer from config file %s", mixer_filename);
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int fd_load = ::open(mixer_filename, O_RDONLY);
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int fd_load = ::open(mixer_filename, O_RDONLY);
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if (fd_load != -1) {
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int nRead = ::read(fd_load, buf, buflen);
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close(fd_load);
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if (fd_load != -1) {
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int nRead = ::read(fd_load, buf, buflen);
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close(fd_load);
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if (nRead > 0) {
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_mixer = MultirotorMixer::from_text(mixer_control_callback, (uintptr_t)&_controls, buf, buflen);
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if (nRead > 0) {
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_mixer = MultirotorMixer::from_text(mixer_control_callback, (uintptr_t)&_controls, buf, buflen);
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if (_mixer != nullptr) {
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PX4_INFO("Successfully initialized mixer from config file");
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return 0;
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if (_mixer != nullptr) {
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PX4_INFO("Successfully initialized mixer from config file");
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return 0;
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} else {
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PX4_ERR("Unable to parse from mixer config file");
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return -1;
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}
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} else {
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PX4_ERR("Unable to parse from mixer config file");
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return -1;
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}
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} else {
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PX4_WARN("Unable to read from mixer config file");
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return -2;
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}
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} else {
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PX4_WARN("Unable to read from mixer config file");
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return -2;
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}
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} else {
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PX4_WARN("No mixer config file found, using default mixer.");
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} else {
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PX4_WARN("No mixer config file found, using default mixer.");
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/* Mixer file loading failed, fall back to default mixer configuration for
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* QUAD_X airframe. */
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float roll_scale = 1;
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float pitch_scale = 1;
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float yaw_scale = 1;
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float deadband = 0;
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/* Mixer file loading failed, fall back to default mixer configuration for
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* QUAD_X airframe. */
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float roll_scale = 1;
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float pitch_scale = 1;
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float yaw_scale = 1;
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float deadband = 0;
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_mixer = new MultirotorMixer(mixer_control_callback, (uintptr_t)&_controls,
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MultirotorGeometry::QUAD_X,
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roll_scale, pitch_scale, yaw_scale, deadband);
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_mixer = new MultirotorMixer(mixer_control_callback, (uintptr_t)&_controls,
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MultirotorGeometry::QUAD_X,
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roll_scale, pitch_scale, yaw_scale, deadband);
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// TODO: temporary hack to make this compile
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(void)_config_index[0];
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// TODO: temporary hack to make this compile
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(void)_config_index[0];
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if (_mixer == nullptr) {
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PX4_ERR("Mixer initialization failed");
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return -1;
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}
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if (_mixer == nullptr) {
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PX4_ERR("Mixer initialization failed");
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return -1;
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}
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return 0;
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}
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return 0;
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}
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}
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int pwm_write_sysfs(char *path, int value)
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{
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int fd = ::open(path, O_WRONLY | O_CLOEXEC);
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int n;
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char *data;
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int fd = ::open(path, O_WRONLY | O_CLOEXEC);
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int n;
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char *data;
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::free(path);
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if (fd == -1) {
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return -errno;
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}
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n = ::asprintf(&data, "%u", value);
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if (n > 0) {
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::write(fd, data, n);
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::free(data);
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}
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::close(fd);
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::free(path);
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return 0;
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if (fd == -1) {
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return -errno;
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}
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n = ::asprintf(&data, "%u", value);
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if (n > 0) {
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::write(fd, data, n);
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::free(data);
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}
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::close(fd);
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return 0;
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}
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int pwm_initialize(const char *device)
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{
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int i;
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char *path;
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int i;
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char *path;
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for (i = 0; i < NUM_PWM; ++i) {
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::asprintf(&path, "%s/export", device);
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if (pwm_write_sysfs(path, i) < 0) {
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PX4_ERR("PWM export failed");
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}
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}
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for (i = 0; i < NUM_PWM; ++i) {
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::asprintf(&path, "%s/export", device);
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for (i = 0; i < NUM_PWM; ++i) {
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::asprintf(&path, "%s/pwm%u/enable", device, i);
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if (pwm_write_sysfs(path, 1) < 0) {
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PX4_ERR("PWM enable failed");
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}
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}
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if (pwm_write_sysfs(path, i) < 0) {
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PX4_ERR("PWM export failed");
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}
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}
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for (i = 0; i < NUM_PWM; ++i) {
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::asprintf(&path, "%s/pwm%u/period", device, i);
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if (pwm_write_sysfs(path, (int)1e9/50)) {
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PX4_ERR("PWM period failed");
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}
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}
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for (i = 0; i < NUM_PWM; ++i) {
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::asprintf(&path, "%s/pwm%u/enable", device, i);
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for (i = 0; i < NUM_PWM; ++i) {
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::asprintf(&path, "%s/pwm%u/duty_cycle", device, i);
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_pwm_fd[i] = ::open(path, O_WRONLY | O_CLOEXEC);
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::free(path);
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if (_pwm_fd[i] == -1) {
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PX4_ERR("PWM: Failed to open duty_cycle.");
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return -errno;
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}
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}
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if (pwm_write_sysfs(path, 1) < 0) {
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PX4_ERR("PWM enable failed");
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}
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}
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return 0;
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for (i = 0; i < NUM_PWM; ++i) {
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::asprintf(&path, "%s/pwm%u/period", device, i);
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if (pwm_write_sysfs(path, (int)1e9 / FREQUENCY_PWM)) {
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PX4_ERR("PWM period failed");
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}
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}
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for (i = 0; i < NUM_PWM; ++i) {
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::asprintf(&path, "%s/pwm%u/duty_cycle", device, i);
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_pwm_fd[i] = ::open(path, O_WRONLY | O_CLOEXEC);
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::free(path);
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if (_pwm_fd[i] == -1) {
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PX4_ERR("PWM: Failed to open duty_cycle.");
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return -errno;
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}
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}
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return 0;
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}
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void pwm_deinitialize()
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{
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for (int i = 0; i < NUM_PWM; ++i) {
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if (_pwm_fd[i] != -1) {
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::close(_pwm_fd[i]);
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}
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}
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for (int i = 0; i < NUM_PWM; ++i) {
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if (_pwm_fd[i] != -1) {
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::close(_pwm_fd[i]);
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}
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}
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}
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void send_outputs_pwm(const uint16_t *pwm)
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{
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int n;
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char *data;
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int n;
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char *data;
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//convert this to duty_cycle in ns
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for (unsigned i = 0; i < NUM_PWM; ++i) {
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n = ::asprintf(&data, "%u", pwm[i] * 1000);
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::write(_pwm_fd[i], data, n);
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}
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//convert this to duty_cycle in ns
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for (unsigned i = 0; i < NUM_PWM; ++i) {
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n = ::asprintf(&data, "%u", pwm[i] * 1000);
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::write(_pwm_fd[i], data, n);
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}
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}
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void task_main(int argc, char *argv[])
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{
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_is_running = true;
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_is_running = true;
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if (pwm_initialize(_device) < 0) {
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PX4_ERR("Failed to initialize PWM.");
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return;
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}
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if (pwm_initialize(_device) < 0) {
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PX4_ERR("Failed to initialize PWM.");
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return;
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}
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// Subscribe for orb topics
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_controls_sub = orb_subscribe(ORB_ID(actuator_controls_3));
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_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
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// Subscribe for orb topics
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_controls_sub = orb_subscribe(ORB_ID(actuator_controls_0));
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_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
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// Start disarmed
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_armed.armed = false;
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_armed.prearmed = false;
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// Start disarmed
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_armed.armed = false;
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_armed.prearmed = false;
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// Set up poll topic
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px4_pollfd_struct_t fds[1];
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fds[0].fd = _controls_sub;
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fds[0].events = POLLIN;
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/* Don't limit poll intervall for now, 250 Hz should be fine. */
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//orb_set_interval(_controls_sub, 10);
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// Set up poll topic
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px4_pollfd_struct_t fds[1];
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fds[0].fd = _controls_sub;
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fds[0].events = POLLIN;
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/* Don't limit poll intervall for now, 250 Hz should be fine. */
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//orb_set_interval(_controls_sub, 10);
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// Set up mixer
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if (initialize_mixer(MIXER_FILENAME) < 0) {
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PX4_ERR("Mixer initialization failed.");
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return;
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}
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// Set up mixer
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if (initialize_mixer(MIXER_FILENAME) < 0) {
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PX4_ERR("Mixer initialization failed.");
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return;
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}
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pwm_limit_init(&_pwm_limit);
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pwm_limit_init(&_pwm_limit);
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// Main loop
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while (!_task_should_exit) {
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// Main loop
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while (!_task_should_exit) {
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int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 10);
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int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 10);
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/* Timed out, do a periodic check for _task_should_exit. */
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if (pret == 0) {
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continue;
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}
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/* Timed out, do a periodic check for _task_should_exit. */
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if (pret == 0) {
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continue;
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}
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/* This is undesirable but not much we can do. */
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if (pret < 0) {
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PX4_WARN("poll error %d, %d", pret, errno);
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/* sleep a bit before next try */
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usleep(100000);
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continue;
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}
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/* This is undesirable but not much we can do. */
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if (pret < 0) {
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PX4_WARN("poll error %d, %d", pret, errno);
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/* sleep a bit before next try */
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usleep(100000);
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continue;
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}
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if (fds[0].revents & POLLIN) {
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orb_copy(ORB_ID(actuator_controls_3), _controls_sub, &_controls);
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if (fds[0].revents & POLLIN) {
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orb_copy(ORB_ID(actuator_controls_0), _controls_sub, &_controls);
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_outputs.timestamp = _controls.timestamp;
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_outputs.timestamp = _controls.timestamp;
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/* do mixing */
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_outputs.noutputs = _mixer->mix(_outputs.output,
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0 /* not used */,
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NULL);
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/* do mixing */
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_outputs.noutputs = _mixer->mix(_outputs.output,
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0 /* not used */,
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NULL);
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/* disable unused ports by setting their output to NaN */
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for (size_t i = _outputs.noutputs;
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i < sizeof(_outputs.output) / sizeof(_outputs.output[0]);
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i++) {
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_outputs.output[i] = NAN;
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}
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/* disable unused ports by setting their output to NaN */
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for (size_t i = _outputs.noutputs;
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i < sizeof(_outputs.output) / sizeof(_outputs.output[0]);
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i++) {
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_outputs.output[i] = NAN;
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}
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const uint16_t reverse_mask = 0;
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uint16_t disarmed_pwm[4];
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uint16_t min_pwm[4];
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uint16_t max_pwm[4];
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const uint16_t reverse_mask = 0;
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uint16_t disarmed_pwm[4];
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uint16_t min_pwm[4];
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uint16_t max_pwm[4];
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for (unsigned int i = 0; i < 4; i++) {
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disarmed_pwm[i] = _pwm_disarmed;
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min_pwm[i] = _pwm_min;
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max_pwm[i] = _pwm_max;
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}
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for (unsigned int i = 0; i < 4; i++) {
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disarmed_pwm[i] = _pwm_disarmed;
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min_pwm[i] = _pwm_min;
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max_pwm[i] = _pwm_max;
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}
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uint16_t pwm[4];
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uint16_t pwm[4];
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// TODO FIXME: pre-armed seems broken
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pwm_limit_calc(_armed.armed,
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false/*_armed.prearmed*/,
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_outputs.noutputs,
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reverse_mask,
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disarmed_pwm,
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min_pwm,
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max_pwm,
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_outputs.output,
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pwm,
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&_pwm_limit);
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// TODO FIXME: pre-armed seems broken
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pwm_limit_calc(_armed.armed,
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false/*_armed.prearmed*/,
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_outputs.noutputs,
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reverse_mask,
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disarmed_pwm,
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min_pwm,
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max_pwm,
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_outputs.output,
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pwm,
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&_pwm_limit);
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send_outputs_pwm(pwm);
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send_outputs_pwm(pwm);
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if (_outputs_pub != nullptr) {
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orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &_outputs);
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if (_outputs_pub != nullptr) {
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orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &_outputs);
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} else {
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_outputs_pub = orb_advertise(ORB_ID(actuator_outputs), &_outputs);
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}
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}
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} else {
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_outputs_pub = orb_advertise(ORB_ID(actuator_outputs), &_outputs);
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}
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}
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bool updated;
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orb_check(_armed_sub, &updated);
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bool updated;
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orb_check(_armed_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
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}
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}
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if (updated) {
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orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
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}
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}
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pwm_deinitialize();
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orb_unsubscribe(_controls_sub);
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orb_unsubscribe(_armed_sub);
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pwm_deinitialize();
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orb_unsubscribe(_controls_sub);
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orb_unsubscribe(_armed_sub);
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_is_running = false;
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_is_running = false;
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}
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void task_main_trampoline(int argc, char *argv[])
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{
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task_main(argc, argv);
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task_main(argc, argv);
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}
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void start()
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{
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ASSERT(_task_handle == -1);
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ASSERT(_task_handle == -1);
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_task_should_exit = false;
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_task_should_exit = false;
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||||
/* 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);
|
||||
/* 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;
|
||||
}
|
||||
if (_task_handle < 0) {
|
||||
warn("task start failed");
|
||||
return;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void stop()
|
||||
{
|
||||
_task_should_exit = true;
|
||||
_task_should_exit = true;
|
||||
|
||||
while (_is_running) {
|
||||
usleep(200000);
|
||||
PX4_INFO(".");
|
||||
}
|
||||
while (_is_running) {
|
||||
usleep(200000);
|
||||
PX4_INFO(".");
|
||||
}
|
||||
|
||||
_task_handle = -1;
|
||||
_task_handle = -1;
|
||||
}
|
||||
|
||||
void usage()
|
||||
{
|
||||
PX4_INFO("usage: pwm_out start -d /sys/class/pwm/pwmchip0");
|
||||
PX4_INFO(" pwm_out stop");
|
||||
PX4_INFO(" pwm_out status");
|
||||
PX4_INFO("usage: pwm_out start -d /sys/class/pwm/pwmchip0");
|
||||
PX4_INFO(" pwm_out stop");
|
||||
PX4_INFO(" pwm_out status");
|
||||
}
|
||||
|
||||
} // namespace pwm_out
|
||||
|
|
@ -429,62 +438,63 @@ extern "C" __EXPORT int pwm_out_main(int argc, char *argv[]);
|
|||
|
||||
int pwm_out_main(int argc, char *argv[])
|
||||
{
|
||||
const char *device = nullptr;
|
||||
int ch;
|
||||
int myoptind = 1;
|
||||
const char *myoptarg = nullptr;
|
||||
const char *device = nullptr;
|
||||
int ch;
|
||||
int myoptind = 1;
|
||||
const char *myoptarg = nullptr;
|
||||
|
||||
char *verb = nullptr;
|
||||
char *verb = nullptr;
|
||||
|
||||
if (argc >= 2) {
|
||||
verb = argv[1];
|
||||
} else {
|
||||
return 1;
|
||||
}
|
||||
if (argc >= 2) {
|
||||
verb = argv[1];
|
||||
|
||||
while ((ch = px4_getopt(argc, argv, "d:", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'd':
|
||||
device = myoptarg;
|
||||
strncpy(pwm_out::_device, device, strlen(device));
|
||||
break;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
return 1;
|
||||
}
|
||||
|
||||
// gets the parameters for the esc's pwm
|
||||
param_get(param_find("PWM_DISARMED"), &pwm_out::_pwm_disarmed);
|
||||
param_get(param_find("PWM_MIN"), &pwm_out::_pwm_min);
|
||||
param_get(param_find("PWM_MAX"), &pwm_out::_pwm_max);
|
||||
while ((ch = px4_getopt(argc, argv, "d:", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'd':
|
||||
device = myoptarg;
|
||||
strncpy(pwm_out::_device, device, strlen(device));
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Start/load the driver.
|
||||
*/
|
||||
if (!strcmp(verb, "start")) {
|
||||
if (pwm_out::_is_running) {
|
||||
PX4_WARN("pwm_out already running");
|
||||
return 1;
|
||||
}
|
||||
// gets the parameters for the esc's pwm
|
||||
param_get(param_find("PWM_DISARMED"), &pwm_out::_pwm_disarmed);
|
||||
param_get(param_find("PWM_MIN"), &pwm_out::_pwm_min);
|
||||
param_get(param_find("PWM_MAX"), &pwm_out::_pwm_max);
|
||||
|
||||
pwm_out::start();
|
||||
}
|
||||
/*
|
||||
* Start/load the driver.
|
||||
*/
|
||||
if (!strcmp(verb, "start")) {
|
||||
if (pwm_out::_is_running) {
|
||||
PX4_WARN("pwm_out already running");
|
||||
return 1;
|
||||
}
|
||||
|
||||
else if (!strcmp(verb, "stop")) {
|
||||
if (!pwm_out::_is_running) {
|
||||
PX4_WARN("pwm_out is not running");
|
||||
return 1;
|
||||
}
|
||||
pwm_out::start();
|
||||
}
|
||||
|
||||
pwm_out::stop();
|
||||
}
|
||||
else if (!strcmp(verb, "stop")) {
|
||||
if (!pwm_out::_is_running) {
|
||||
PX4_WARN("pwm_out is not running");
|
||||
return 1;
|
||||
}
|
||||
|
||||
else if (!strcmp(verb, "status")) {
|
||||
PX4_WARN("pwm_out is %s", pwm_out::_is_running ? "running" : "not running");
|
||||
return 0;
|
||||
pwm_out::stop();
|
||||
}
|
||||
|
||||
} else {
|
||||
pwm_out::usage();
|
||||
return 1;
|
||||
}
|
||||
else if (!strcmp(verb, "status")) {
|
||||
PX4_WARN("pwm_out is %s", pwm_out::_is_running ? "running" : "not running");
|
||||
return 0;
|
||||
|
||||
return 0;
|
||||
} else {
|
||||
pwm_out::usage();
|
||||
return 1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue