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dshot: breakout driver header file, use static_casts, add const specifiers (#15908) 

* Break out dshot.h from dshot.cpp and rename files to reflect the class name.
Move DShot class specific #defines from drv_pwm_output.h to dshot.h.
Replace c-style casts with static_casts, standardize method naming, single line comment styles, and formatting.
Rename update_dshot_out_state() to enable_dshot_outputs().
This commit is contained in:
Mark Sauder 2020-12-09 00:51:47 -07:00 committed by GitHub
parent cf010f44d0
commit dd4ee5c48c
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
6 changed files with 401 additions and 385 deletions
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54
src/drivers/drv_pwm_output.h
View File

@ -293,14 +293,6 @@ struct pwm_output_rc_config {
#define PWM_RATE_LOWER_LIMIT 1u
#define PWM_RATE_UPPER_LIMIT 10000u
/** Dshot PWM frequency */
#define DSHOT1200 1200000u //Hz
#define DSHOT600 600000u //Hz
#define DSHOT300 300000u //Hz
#define DSHOT150 150000u //Hz
#define DSHOT_MAX_THROTTLE 1999
typedef enum {
DShot_cmd_motor_stop = 0,
DShot_cmd_beacon1,
@ -315,23 +307,23 @@ typedef enum {
DShot_cmd_3d_mode_on,
DShot_cmd_settings_request, // Currently not implemented
DShot_cmd_save_settings,
DShot_cmd_spin_direction_normal = 20,
DShot_cmd_spin_direction_normal = 20,
DShot_cmd_spin_direction_reversed = 21,
DShot_cmd_led0_on, // BLHeli32 only
DShot_cmd_led1_on, // BLHeli32 only
DShot_cmd_led2_on, // BLHeli32 only
DShot_cmd_led3_on, // BLHeli32 only
DShot_cmd_led0_off, // BLHeli32 only
DShot_cmd_led1_off, // BLHeli32 only
DShot_cmd_led2_off, // BLHeli32 only
DShot_cmd_led4_off, // BLHeli32 only
DShot_cmd_audio_stream_mode_on_off = 30, // KISS audio Stream mode on/off
DShot_cmd_silent_mode_on_off = 31, // KISS silent Mode on/off
DShot_cmd_signal_line_telemeetry_disable = 32,
DShot_cmd_led0_on, // BLHeli32 only
DShot_cmd_led1_on, // BLHeli32 only
DShot_cmd_led2_on, // BLHeli32 only
DShot_cmd_led3_on, // BLHeli32 only
DShot_cmd_led0_off, // BLHeli32 only
DShot_cmd_led1_off, // BLHeli32 only
DShot_cmd_led2_off, // BLHeli32 only
DShot_cmd_led4_off, // BLHeli32 only
DShot_cmd_audio_stream_mode_on_off = 30, // KISS audio Stream mode on/off
DShot_cmd_silent_mode_on_off = 31, // KISS silent Mode on/off
DShot_cmd_signal_line_telemeetry_disable = 32,
DShot_cmd_signal_line_continuous_erpm_telemetry = 33,
DShot_cmd_MAX = 47,
DShot_cmd_MIN_throttle = 48
// >47 are throttle values
DShot_cmd_MAX = 47, // >47 are throttle values
DShot_cmd_MIN_throttle = 48,
DShot_cmd_MAX_throttle = 2047
} dshot_command_t;
@ -424,11 +416,11 @@ __EXPORT extern servo_position_t up_pwm_servo_get(unsigned channel);
/**
* Intialise the Dshot outputs using the specified configuration.
*
* @param channel_mask Bitmask of channels (LSB = channel 0) to enable.
* This allows some of the channels to remain configured
* as GPIOs or as another function.
* @param dshot_pwm_freq is frequency of DSHOT signal. Usually DSHOT1200, DSHOT600, DSHOT300 or DSHOT150
* @return OK on success.
* @param channel_mask Bitmask of channels (LSB = channel 0) to enable.
* This allows some of the channels to remain configured
* as GPIOs or as another function.
* @param dshot_pwm_freq Frequency of DSHOT signal. Usually DSHOT150, DSHOT300, DSHOT600 or DSHOT1200
* @return OK on success.
*/
__EXPORT extern int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq);
@ -436,8 +428,8 @@ __EXPORT extern int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq
* Set the current dshot throttle value for a channel (motor).
*
* @param channel The channel to set.
* @param throttle The output dshot throttle value in [0, 1999 = DSHOT_MAX_THROTTLE].
* @param telemetry If true, request telemetry from that motor
* @param throttle The output dshot throttle value in [0 = DSHOT_DISARM_VALUE, 1 = DSHOT_MIN_THROTTLE, 1999 = DSHOT_MAX_THROTTLE].
* @param telemetry If true, request telemetry from that motor
*/
__EXPORT extern void up_dshot_motor_data_set(unsigned channel, uint16_t throttle, bool telemetry);
@ -446,7 +438,7 @@ __EXPORT extern void up_dshot_motor_data_set(unsigned channel, uint16_t throttle
*
* @param channel The channel to set.
* @param command dshot_command_t
* @param telemetry If true, request telemetry from that motor
* @param telemetry If true, request telemetry from that motor
*/
__EXPORT extern void up_dshot_motor_command(unsigned channel, uint16_t command, bool telemetry);

4
src/drivers/dshot/CMakeLists.txt
View File

@ -35,8 +35,8 @@ px4_add_module(
MAIN dshot
STACK_MAIN 1200
SRCS
dshot.cpp
telemetry.cpp
DShot.cpp
DShotTelemetry.cpp
DEPENDS
arch_io_pins
arch_dshot

493
src/drivers/dshot/dshot.cpp → src/drivers/dshot/DShot.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2019-2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -31,257 +31,47 @@
*
****************************************************************************/
#include <float.h>
#include <math.h>
#include "DShot.h"
#include <board_config.h>
#include <drivers/device/device.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_input_capture.h>
#include <drivers/drv_mixer.h>
#include <drivers/drv_pwm_output.h>
#include <lib/cdev/CDev.hpp>
#include <lib/mathlib/mathlib.h>
#include <lib/mixer_module/mixer_module.hpp>
#include <lib/parameters/param.h>
#include <lib/perf/perf_counter.h>
#include <px4_arch/dshot.h>
#include <px4_platform_common/atomic.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/multirotor_motor_limits.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/esc_status.h>
char DShot::_telemetry_device[] {};
px4::atomic_bool DShot::_request_telemetry_init{false};
#include "telemetry.h"
using namespace time_literals;
/** Mode given via CLI */
enum PortMode {
PORT_MODE_UNSET = 0,
PORT_FULL_GPIO,
PORT_FULL_PWM,
PORT_PWM8,
PORT_PWM6,
PORT_PWM5,
PORT_PWM4,
PORT_PWM3,
PORT_PWM2,
PORT_PWM1,
PORT_PWM3CAP1,
PORT_PWM4CAP1,
PORT_PWM4CAP2,
PORT_PWM5CAP1,
PORT_PWM2CAP2,
PORT_CAPTURE,
};
#if !defined(BOARD_HAS_PWM)
# error "board_config.h needs to define BOARD_HAS_PWM"
#endif
class DShotOutput : public cdev::CDev, public ModuleBase<DShotOutput>, public OutputModuleInterface
{
public:
enum Mode {
MODE_NONE,
MODE_1PWM,
MODE_2PWM,
MODE_2PWM2CAP,
MODE_3PWM,
MODE_3PWM1CAP,
MODE_4PWM,
MODE_4PWM1CAP,
MODE_4PWM2CAP,
MODE_5PWM,
MODE_5PWM1CAP,
MODE_6PWM,
MODE_8PWM,
MODE_14PWM,
MODE_4CAP,
MODE_5CAP,
MODE_6CAP,
};
DShotOutput();
virtual ~DShotOutput();
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
/** @see ModuleBase::print_status() */
int print_status() override;
/** change the mode of the running module */
static int module_new_mode(PortMode new_mode);
virtual int ioctl(file *filp, int cmd, unsigned long arg);
virtual int init();
int set_mode(Mode mode);
Mode get_mode() { return _mode; }
static void capture_trampoline(void *context, uint32_t chan_index,
hrt_abstime edge_time, uint32_t edge_state,
uint32_t overflow);
bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated) override;
void mixerChanged() override;
/**
* Send a dshot command to one or all motors
* This is expected to be called from another thread.
* @param num_repetitions number of times to repeat, set at least to 1
* @param motor_index index or -1 for all
* @return 0 on success, <0 error otherwise
*/
int sendCommandThreadSafe(dshot_command_t command, int num_repetitions, int motor_index);
void retrieveAndPrintESCInfoThreadSafe(int motor_index);
bool telemetryEnabled() const { return _telemetry != nullptr; }
private:
void Run() override;
static constexpr uint16_t DISARMED_VALUE = 0;
enum class DShotConfig {
Disabled = 0,
DShot150 = 150,
DShot300 = 300,
DShot600 = 600,
DShot1200 = 1200,
};
struct Command {
dshot_command_t command;
int num_repetitions{0};
uint8_t motor_mask{0xff};
bool valid() const { return num_repetitions > 0; }
void clear() { num_repetitions = 0; }
};
struct Telemetry {
DShotTelemetry handler;
uORB::PublicationData<esc_status_s> esc_status_pub{ORB_ID(esc_status)};
int last_motor_index{-1};
};
void updateTelemetryNumMotors();
void initTelemetry(const char *device);
void handleNewTelemetryData(int motor_index, const DShotTelemetry::EscData &data);
int requestESCInfo();
MixingOutput _mixing_output{DIRECT_PWM_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
Telemetry *_telemetry{nullptr};
static char _telemetry_device[20];
static px4::atomic_bool _request_telemetry_init;
px4::atomic<DShotTelemetry::OutputBuffer *> _request_esc_info{nullptr};
bool _waiting_for_esc_info{false};
Mode _mode{MODE_NONE};
uORB::Subscription _param_sub{ORB_ID(parameter_update)};
Command _current_command;
px4::atomic<Command *> _new_command{nullptr};
unsigned _num_outputs{0};
int _class_instance{-1};
bool _outputs_on{false};
uint32_t _output_mask{0};
bool _outputs_initialized{false};
perf_counter_t _cycle_perf;
void capture_callback(uint32_t chan_index,
hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);
int pwm_ioctl(file *filp, int cmd, unsigned long arg);
void update_dshot_out_state(bool on);
void update_params();
int capture_ioctl(file *filp, int cmd, unsigned long arg);
DShotOutput(const DShotOutput &) = delete;
DShotOutput operator=(const DShotOutput &) = delete;
DEFINE_PARAMETERS(
(ParamInt<px4::params::DSHOT_CONFIG>) _param_dshot_config,
(ParamFloat<px4::params::DSHOT_MIN>) _param_dshot_min,
(ParamInt<px4::params::MOT_POLE_COUNT>) _param_mot_pole_count
)
};
char DShotOutput::_telemetry_device[] {};
px4::atomic_bool DShotOutput::_request_telemetry_init{false};
DShotOutput::DShotOutput() :
DShot::DShot() :
CDev("/dev/dshot"),
OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default),
_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default)
{
_mixing_output.setAllDisarmedValues(DISARMED_VALUE);
_mixing_output.setAllMinValues(DISARMED_VALUE + 1);
_mixing_output.setAllDisarmedValues(DSHOT_DISARM_VALUE);
_mixing_output.setAllMinValues(DSHOT_MIN_THROTTLE);
_mixing_output.setAllMaxValues(DSHOT_MAX_THROTTLE);
}
DShotOutput::~DShotOutput()
DShot::~DShot()
{
/* make sure outputs are off */
// make sure outputs are off
up_dshot_arm(false);
/* clean up the alternate device node */
// clean up the alternate device node
unregister_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH, _class_instance);
perf_free(_cycle_perf);
delete _telemetry;
}
int
DShotOutput::init()
int DShot::init()
{
/* do regular cdev init */
// do regular cdev init
int ret = CDev::init();
if (ret != OK) {
return ret;
}
/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
// try to claim the generic PWM output device node as well - it's OK if we fail at this
_class_instance = register_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH);
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* lets not be too verbose */
// lets not be too verbose
} else if (_class_instance < 0) {
PX4_ERR("FAILED registering class device");
}
@ -293,11 +83,10 @@ DShotOutput::init()
ScheduleNow();
return 0;
return OK;
}
int
DShotOutput::set_mode(Mode mode)
int DShot::set_mode(const Mode mode)
{
unsigned old_mask = _output_mask;
@ -310,7 +99,7 @@ DShotOutput::set_mode(Mode mode)
*/
switch (mode) {
case MODE_1PWM:
/* default output rates */
// default output rates
_output_mask = 0x1;
_outputs_initialized = false;
_num_outputs = 1;
@ -324,12 +113,12 @@ DShotOutput::set_mode(Mode mode)
PX4_DEBUG("MODE_2PWM2CAP");
#endif
/* FALLTHROUGH */
// FALLTHROUGH
case MODE_2PWM: // v1 multi-port with flow control lines as PWM
PX4_DEBUG("MODE_2PWM");
/* default output rates */
// default output rates
_output_mask = 0x3;
_outputs_initialized = false;
_num_outputs = 2;
@ -343,12 +132,12 @@ DShotOutput::set_mode(Mode mode)
up_input_capture_set(3, Rising, 0, NULL, NULL);
#endif
/* FALLTHROUGH */
// FALLTHROUGH
case MODE_3PWM: // v1 multi-port with flow control lines as PWM
PX4_DEBUG("MODE_3PWM");
/* default output rates */
// default output rates
_output_mask = 0x7;
_outputs_initialized = false;
_num_outputs = 3;
@ -362,12 +151,12 @@ DShotOutput::set_mode(Mode mode)
up_input_capture_set(4, Rising, 0, NULL, NULL);
#endif
/* FALLTHROUGH */
// FALLTHROUGH
case MODE_4PWM: // v1 or v2 multi-port as 4 PWM outs
PX4_DEBUG("MODE_4PWM");
/* default output rates */
// default output rates
_output_mask = 0xf;
_outputs_initialized = false;
_num_outputs = 4;
@ -380,7 +169,7 @@ DShotOutput::set_mode(Mode mode)
PX4_DEBUG("MODE_4PWM2CAP");
up_input_capture_set(5, Rising, 0, NULL, NULL);
/* default output rates */
// default output rates
_output_mask = 0x0f;
_outputs_initialized = false;
_num_outputs = 4;
@ -395,12 +184,12 @@ DShotOutput::set_mode(Mode mode)
up_input_capture_set(5, Rising, 0, NULL, NULL);
#endif
/* FALLTHROUGH */
// FALLTHROUGH
case MODE_5PWM: // v1 or v2 multi-port as 5 PWM outs
PX4_DEBUG("MODE_5PWM");
/* default output rates */
// default output rates
_output_mask = 0x1f;
_outputs_initialized = false;
_num_outputs = 5;
@ -412,7 +201,7 @@ DShotOutput::set_mode(Mode mode)
case MODE_6PWM:
PX4_DEBUG("MODE_6PWM");
/* default output rates */
// default output rates
_output_mask = 0x3f;
_outputs_initialized = false;
_num_outputs = 6;
@ -424,7 +213,7 @@ DShotOutput::set_mode(Mode mode)
case MODE_8PWM: // AeroCore PWMs as 8 PWM outs
PX4_DEBUG("MODE_8PWM");
/* default output rates */
// default output rates
_output_mask = 0xff;
_outputs_initialized = false;
_num_outputs = 8;
@ -436,7 +225,7 @@ DShotOutput::set_mode(Mode mode)
case MODE_14PWM:
PX4_DEBUG("MODE_14PWM");
/* default output rates */
// default output rates
_output_mask = 0x3fff;
_outputs_initialized = false;
_num_outputs = 14;
@ -451,8 +240,8 @@ DShotOutput::set_mode(Mode mode)
_num_outputs = 0;
if (old_mask != _output_mask) {
/* disable motor outputs */
update_dshot_out_state(false);
// disable motor outputs
enable_dshot_outputs(false);
}
break;
@ -465,10 +254,9 @@ DShotOutput::set_mode(Mode mode)
return OK;
}
int
DShotOutput::task_spawn(int argc, char *argv[])
int DShot::task_spawn(int argc, char *argv[])
{
DShotOutput *instance = new DShotOutput();
DShot *instance = new DShot();
if (instance) {
_object.store(instance);
@ -489,27 +277,26 @@ DShotOutput::task_spawn(int argc, char *argv[])
return PX4_ERROR;
}
void
DShotOutput::capture_trampoline(void *context, uint32_t chan_index,
hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow)
void DShot::capture_trampoline(void *context, const uint32_t channel_index, const hrt_abstime edge_time,
const uint32_t edge_state, const uint32_t overflow)
{
DShotOutput *dev = static_cast<DShotOutput *>(context);
dev->capture_callback(chan_index, edge_time, edge_state, overflow);
DShot *dev = static_cast<DShot *>(context);
dev->capture_callback(channel_index, edge_time, edge_state, overflow);
}
void
DShotOutput::capture_callback(uint32_t chan_index,
hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow)
void DShot::capture_callback(const uint32_t channel_index, const hrt_abstime edge_time,
const uint32_t edge_state, const uint32_t overflow)
{
fprintf(stdout, "DShot: Capture chan:%d time:%lld state:%d overflow:%d\n", chan_index, edge_time, edge_state, overflow);
fprintf(stdout, "DShot: Capture chan:%d time:%lld state:%d overflow:%d\n", channel_index, edge_time, edge_state,
overflow);
}
void
DShotOutput::update_dshot_out_state(bool on)
void DShot::enable_dshot_outputs(const bool enabled)
{
if (on && !_outputs_initialized && _output_mask != 0) {
if (enabled && !_outputs_initialized && _output_mask != 0) {
DShotConfig config = (DShotConfig)_param_dshot_config.get();
unsigned dshot_frequency;
unsigned int dshot_frequency = DSHOT600;
switch (config) {
case DShotConfig::DShot150:
@ -520,13 +307,15 @@ DShotOutput::update_dshot_out_state(bool on)
dshot_frequency = DSHOT300;
break;
case DShotConfig::DShot600:
dshot_frequency = DSHOT600;
break;
case DShotConfig::DShot1200:
dshot_frequency = DSHOT1200;
break;
case DShotConfig::DShot600:
default:
dshot_frequency = DSHOT600;
break;
}
@ -541,12 +330,12 @@ DShotOutput::update_dshot_out_state(bool on)
}
if (_outputs_initialized) {
up_dshot_arm(on);
_outputs_on = on;
up_dshot_arm(enabled);
_outputs_on = enabled;
}
}
void DShotOutput::updateTelemetryNumMotors()
void DShot::update_telemetry_num_motors()
{
if (!_telemetry) {
return;
@ -561,7 +350,7 @@ void DShotOutput::updateTelemetryNumMotors()
_telemetry->handler.setNumMotors(motor_count);
}
void DShotOutput::initTelemetry(const char *device)
void DShot::init_telemetry(const char *device)
{
if (!_telemetry) {
_telemetry = new Telemetry{};
@ -578,20 +367,21 @@ void DShotOutput::initTelemetry(const char *device)
PX4_ERR("telemetry init failed (%i)", ret);
}
updateTelemetryNumMotors();
update_telemetry_num_motors();
}
void DShotOutput::handleNewTelemetryData(int motor_index, const DShotTelemetry::EscData &data)
void DShot::handle_new_telemetry_data(const int motor_index, const DShotTelemetry::EscData &data)
{
// fill in new motor data
esc_status_s &esc_status = _telemetry->esc_status_pub.get();
if (motor_index < esc_status_s::CONNECTED_ESC_MAX) {
esc_status.esc_online_flags |= 1 << motor_index;
esc_status.esc[motor_index].timestamp = data.time;
esc_status.esc[motor_index].esc_rpm = ((int)data.erpm * 100) / (_param_mot_pole_count.get() / 2);
esc_status.esc[motor_index].esc_voltage = (float)data.voltage * 0.01f;
esc_status.esc[motor_index].esc_current = (float)data.current * 0.01f;
esc_status.esc[motor_index].timestamp = data.time;
esc_status.esc[motor_index].esc_rpm = (static_cast<int>(data.erpm) * 100) / (_param_mot_pole_count.get() / 2);
esc_status.esc[motor_index].esc_voltage = static_cast<float>(data.voltage) * 0.01f;
esc_status.esc[motor_index].esc_current = static_cast<float>(data.current) * 0.01f;
esc_status.esc[motor_index].esc_temperature = data.temperature;
// TODO: accumulate consumption and use for battery estimation
}
@ -616,9 +406,9 @@ void DShotOutput::handleNewTelemetryData(int motor_index, const DShotTelemetry::
_telemetry->last_motor_index = motor_index;
}
int DShotOutput::sendCommandThreadSafe(dshot_command_t command, int num_repetitions, int motor_index)
int DShot::send_command_thread_safe(const dshot_command_t command, const int num_repetitions, const int motor_index)
{
Command cmd;
Command cmd{};
cmd.command = command;
if (motor_index == -1) {
@ -639,15 +429,16 @@ int DShotOutput::sendCommandThreadSafe(dshot_command_t command, int num_repetiti
return 0;
}
void DShotOutput::retrieveAndPrintESCInfoThreadSafe(int motor_index)
void DShot::retrieve_and_print_esc_info_thread_safe(const int motor_index)
{
if (_request_esc_info.load() != nullptr) {
// already in progress (not expected to ever happen)
return;
}
DShotTelemetry::OutputBuffer output_buffer;
DShotTelemetry::OutputBuffer output_buffer{};
output_buffer.motor_index = motor_index;
// start the request
_request_esc_info.store(&output_buffer);
@ -668,25 +459,28 @@ void DShotOutput::retrieveAndPrintESCInfoThreadSafe(int motor_index)
DShotTelemetry::decodeAndPrintEscInfoPacket(output_buffer);
}
int DShotOutput::requestESCInfo()
int DShot::request_esc_info()
{
_telemetry->handler.redirectOutput(*_request_esc_info.load());
_waiting_for_esc_info = true;
int motor_index = _mixing_output.reorderedMotorIndex(_request_esc_info.load()->motor_index);
_current_command.motor_mask = 1 << motor_index;
_current_command.num_repetitions = 1;
_current_command.command = DShot_cmd_esc_info;
PX4_DEBUG("Requesting ESC info for motor %i", motor_index);
return motor_index;
}
void DShotOutput::mixerChanged()
void DShot::mixerChanged()
{
updateTelemetryNumMotors();
update_telemetry_num_motors();
}
bool DShotOutput::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated)
bool DShot::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated)
{
if (!_outputs_on) {
return false;
@ -698,7 +492,7 @@ bool DShotOutput::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS
// check for an ESC info request. We only process it when we're not expecting other telemetry data
if (_request_esc_info.load() != nullptr && !_waiting_for_esc_info && stop_motors
&& !_telemetry->handler.expectingData() && !_current_command.valid()) {
requested_telemetry_index = requestESCInfo();
requested_telemetry_index = request_esc_info();
} else {
requested_telemetry_index = _mixing_output.reorderedMotorIndex(_telemetry->handler.getRequestMotorIndex());
@ -724,11 +518,12 @@ bool DShotOutput::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS
} else {
for (int i = 0; i < (int)num_outputs; i++) {
if (outputs[i] == DISARMED_VALUE) {
if (outputs[i] == DSHOT_DISARM_VALUE) {
up_dshot_motor_command(i, DShot_cmd_motor_stop, i == requested_telemetry_index);
} else {
up_dshot_motor_data_set(i, math::min(outputs[i], (uint16_t)DSHOT_MAX_THROTTLE), i == requested_telemetry_index);
up_dshot_motor_data_set(i, math::min(outputs[i], static_cast<uint16_t>(DSHOT_MAX_THROTTLE)),
i == requested_telemetry_index);
}
}
@ -743,8 +538,7 @@ bool DShotOutput::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS
return true;
}
void
DShotOutput::Run()
void DShot::Run()
{
if (should_exit()) {
ScheduleClear();
@ -758,11 +552,11 @@ DShotOutput::Run()
_mixing_output.update();
/* update output status if armed or if mixer is loaded */
// update output status if armed or if mixer is loaded
bool outputs_on = _mixing_output.armed().armed || _mixing_output.mixers();
if (_outputs_on != outputs_on) {
update_dshot_out_state(outputs_on);
enable_dshot_outputs(outputs_on);
}
if (_telemetry) {
@ -776,7 +570,7 @@ DShotOutput::Run()
}
} else if (telem_update >= 0) {
handleNewTelemetryData(telem_update, _telemetry->handler.latestESCData());
handle_new_telemetry_data(telem_update, _telemetry->handler.latestESCData());
}
}
@ -786,7 +580,7 @@ DShotOutput::Run()
// telemetry device update request?
if (_request_telemetry_init.load()) {
initTelemetry(_telemetry_device);
init_telemetry(_telemetry_device);
_request_telemetry_init.store(false);
}
@ -806,7 +600,7 @@ DShotOutput::Run()
perf_end(_cycle_perf);
}
void DShotOutput::update_params()
void DShot::update_params()
{
parameter_update_s pupdate;
_param_sub.update(&pupdate);
@ -814,24 +608,23 @@ void DShotOutput::update_params()
updateParams();
// we use a minimum value of 1, since 0 is for disarmed
_mixing_output.setAllMinValues(math::constrain((int)(_param_dshot_min.get() * (float)DSHOT_MAX_THROTTLE),
DISARMED_VALUE + 1, DSHOT_MAX_THROTTLE));
_mixing_output.setAllMinValues(math::constrain(static_cast<int>((_param_dshot_min.get() *
static_cast<float>(DSHOT_MAX_THROTTLE))),
DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE));
}
int
DShotOutput::ioctl(file *filp, int cmd, unsigned long arg)
int DShot::ioctl(file *filp, int cmd, unsigned long arg)
{
int ret;
/* try it as a Capture ioctl next */
// try it as a Capture ioctl next
ret = capture_ioctl(filp, cmd, arg);
if (ret != -ENOTTY) {
return ret;
}
/* if we are in valid PWM mode, try it as a PWM ioctl as well */
// if we are in valid PWM mode, try it as a PWM ioctl as well
switch (_mode) {
case MODE_1PWM:
case MODE_2PWM:
@ -860,7 +653,7 @@ DShotOutput::ioctl(file *filp, int cmd, unsigned long arg)
break;
}
/* if nobody wants it, let CDev have it */
// if nobody wants it, let CDev have it
if (ret == -ENOTTY) {
ret = CDev::ioctl(filp, cmd, arg);
}
@ -868,8 +661,7 @@ DShotOutput::ioctl(file *filp, int cmd, unsigned long arg)
return ret;
}
int
DShotOutput::pwm_ioctl(file *filp, int cmd, unsigned long arg)
int DShot::pwm_ioctl(file *filp, const int cmd, const unsigned long arg)
{
int ret = OK;
@ -935,7 +727,8 @@ DShotOutput::pwm_ioctl(file *filp, int cmd, unsigned long arg)
break;
case PWM_SERVO_SET_COUNT: {
/* change the number of outputs that are enabled for
/*
* Change the number of outputs that are enabled for
* PWM. This is used to change the split between GPIO
* and PWM under control of the flight config
* parameters.
@ -1083,10 +876,9 @@ DShotOutput::pwm_ioctl(file *filp, int cmd, unsigned long arg)
return ret;
}
int
DShotOutput::capture_ioctl(struct file *filp, int cmd, unsigned long arg)
int DShot::capture_ioctl(file *filp, const int cmd, const unsigned long arg)
{
int ret = -EINVAL;
int ret = -EINVAL;
#if defined(BOARD_HAS_CAPTURE)
@ -1235,16 +1027,15 @@ DShotOutput::capture_ioctl(struct file *filp, int cmd, unsigned long arg)
return ret;
}
int
DShotOutput::module_new_mode(PortMode new_mode)
int DShot::module_new_mode(const PortMode new_mode)
{
if (!is_running()) {
return -1;
}
DShotOutput::Mode mode;
DShot::Mode mode;
mode = DShotOutput::MODE_NONE;
mode = DShot::MODE_NONE;
switch (new_mode) {
case PORT_FULL_GPIO:
@ -1254,56 +1045,56 @@ DShotOutput::module_new_mode(PortMode new_mode)
case PORT_FULL_PWM:
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 4
/* select 4-pin PWM mode */
mode = DShotOutput::MODE_4PWM;
// select 4-pin PWM mode
mode = DShot::MODE_4PWM;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 5
mode = DShotOutput::MODE_5PWM;
mode = DShot::MODE_5PWM;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 6
mode = DShotOutput::MODE_6PWM;
mode = DShot::MODE_6PWM;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 8
mode = DShotOutput::MODE_8PWM;
mode = DShot::MODE_8PWM;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 14
mode = DShotOutput::MODE_14PWM;
mode = DShot::MODE_14PWM;
#endif
break;
case PORT_PWM1:
/* select 2-pin PWM mode */
mode = DShotOutput::MODE_1PWM;
// select 2-pin PWM mode
mode = DShot::MODE_1PWM;
break;
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
case PORT_PWM8:
/* select 8-pin PWM mode */
mode = DShotOutput::MODE_8PWM;
// select 8-pin PWM mode
mode = DShot::MODE_8PWM;
break;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
case PORT_PWM6:
/* select 6-pin PWM mode */
mode = DShotOutput::MODE_6PWM;
// select 6-pin PWM mode
mode = DShot::MODE_6PWM;
break;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 5
case PORT_PWM5:
/* select 5-pin PWM mode */
mode = DShotOutput::MODE_5PWM;
// select 5-pin PWM mode
mode = DShot::MODE_5PWM;
break;
# if defined(BOARD_HAS_CAPTURE)
case PORT_PWM5CAP1:
/* select 5-pin PWM mode 1 capture */
mode = DShotOutput::MODE_5PWM1CAP;
// select 5-pin PWM mode 1 capture
mode = DShot::MODE_5PWM1CAP;
break;
# endif
@ -1312,48 +1103,48 @@ DShotOutput::module_new_mode(PortMode new_mode)
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 4
case PORT_PWM4:
/* select 4-pin PWM mode */
mode = DShotOutput::MODE_4PWM;
// select 4-pin PWM mode
mode = DShot::MODE_4PWM;
break;
# if defined(BOARD_HAS_CAPTURE)
case PORT_PWM4CAP1:
/* select 4-pin PWM mode 1 capture */
mode = DShotOutput::MODE_4PWM1CAP;
// select 4-pin PWM mode 1 capture
mode = DShot::MODE_4PWM1CAP;
break;
case PORT_PWM4CAP2:
/* select 4-pin PWM mode 2 capture */
mode = DShotOutput::MODE_4PWM2CAP;
// select 4-pin PWM mode 2 capture
mode = DShot::MODE_4PWM2CAP;
break;
# endif
case PORT_PWM3:
/* select 3-pin PWM mode */
mode = DShotOutput::MODE_3PWM;
// select 3-pin PWM mode
mode = DShot::MODE_3PWM;
break;
# if defined(BOARD_HAS_CAPTURE)
case PORT_PWM3CAP1:
/* select 3-pin PWM mode 1 capture */
mode = DShotOutput::MODE_3PWM1CAP;
// select 3-pin PWM mode 1 capture
mode = DShot::MODE_3PWM1CAP;
break;
# endif
case PORT_PWM2:
/* select 2-pin PWM mode */
mode = DShotOutput::MODE_2PWM;
// select 2-pin PWM mode
mode = DShot::MODE_2PWM;
break;
# if defined(BOARD_HAS_CAPTURE)
case PORT_PWM2CAP2:
/* select 2-pin PWM mode 2 capture */
mode = DShotOutput::MODE_2PWM2CAP;
// select 2-pin PWM mode 2 capture
mode = DShot::MODE_2PWM2CAP;
break;
# endif
@ -1363,17 +1154,17 @@ DShotOutput::module_new_mode(PortMode new_mode)
return -1;
}
DShotOutput *object = get_instance();
DShot *object = get_instance();
if (mode != object->get_mode()) {
/* (re)set the output mode */
// (re)set the output mode
object->set_mode(mode);
}
return OK;
}
int DShotOutput::custom_command(int argc, char *argv[])
int DShot::custom_command(int argc, char *argv[])
{
PortMode new_mode = PORT_MODE_UNSET;
const char *verb = argv[0];
@ -1431,7 +1222,7 @@ int DShotOutput::custom_command(int argc, char *argv[])
return -1;
}
return get_instance()->sendCommandThreadSafe(commands[i].command, commands[i].num_repetitions, motor_index);
return get_instance()->send_command_thread_safe(commands[i].command, commands[i].num_repetitions, motor_index);
}
}
@ -1446,18 +1237,18 @@ int DShotOutput::custom_command(int argc, char *argv[])
return -1;
}
if (!get_instance()->telemetryEnabled()) {
if (!get_instance()->telemetry_enabled()) {
PX4_ERR("Telemetry is not enabled, but required to get ESC info");
return -1;
}
get_instance()->retrieveAndPrintESCInfoThreadSafe(motor_index);
get_instance()->retrieve_and_print_esc_info_thread_safe(motor_index);
return 0;
}
if (!is_running()) {
int ret = DShotOutput::task_spawn(argc, argv);
int ret = DShot::task_spawn(argc, argv);
if (ret) {
return ret;
@ -1534,17 +1325,17 @@ int DShotOutput::custom_command(int argc, char *argv[])
#endif
}
/* was a new mode set? */
// was a new mode set?
if (new_mode != PORT_MODE_UNSET) {
/* switch modes */
return DShotOutput::module_new_mode(new_mode);
// switch modes
return DShot::module_new_mode(new_mode);
}
return print_usage("unknown command");
}
int DShotOutput::print_status()
int DShot::print_status()
{
const char *mode_str = nullptr;
@ -1603,7 +1394,7 @@ int DShotOutput::print_status()
return 0;
}
int DShotOutput::print_usage(const char *reason)
int DShot::print_usage(const char *reason)
{
if (reason) {
PX4_WARN("%s\n", reason);
@ -1688,5 +1479,5 @@ After saving, the reversed direction will be regarded as the normal one. So to r
extern "C" __EXPORT int dshot_main(int argc, char *argv[])
{
return DShotOutput::main(argc, argv);
return DShot::main(argc, argv);
}

233
src/drivers/dshot/DShot.h Normal file
View File

@ -0,0 +1,233 @@
/****************************************************************************
*
* Copyright (c) 2019-2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <drivers/device/device.h>
#include <drivers/drv_input_capture.h>
#include <drivers/drv_mixer.h>
#include <lib/mixer_module/mixer_module.hpp>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
#include <uORB/topics/esc_status.h>
#include "DShotTelemetry.h"
using namespace time_literals;
#if !defined(BOARD_HAS_PWM)
# error "board_config.h needs to define BOARD_HAS_PWM"
#endif
/** Dshot PWM frequency, Hz */
static constexpr unsigned int DSHOT150 = 150000u;
static constexpr unsigned int DSHOT300 = 300000u;
static constexpr unsigned int DSHOT600 = 600000u;
static constexpr unsigned int DSHOT1200 = 1200000u;
static constexpr int DSHOT_DISARM_VALUE = 0;
static constexpr int DSHOT_MIN_THROTTLE = 1;
static constexpr int DSHOT_MAX_THROTTLE = 1999;
class DShot : public cdev::CDev, public ModuleBase<DShot>, public OutputModuleInterface
{
public:
DShot();
virtual ~DShot();
enum Mode {
MODE_NONE = 0,
MODE_1PWM,
MODE_2PWM,
MODE_2PWM2CAP,
MODE_3PWM,
MODE_3PWM1CAP,
MODE_4PWM,
MODE_4PWM1CAP,
MODE_4PWM2CAP,
MODE_5PWM,
MODE_5PWM1CAP,
MODE_6PWM,
MODE_8PWM,
MODE_14PWM,
MODE_4CAP,
MODE_5CAP,
MODE_6CAP,
};
/** Mode given via CLI */
enum PortMode {
PORT_MODE_UNSET = 0,
PORT_FULL_GPIO,
PORT_FULL_PWM,
PORT_PWM8,
PORT_PWM6,
PORT_PWM5,
PORT_PWM4,
PORT_PWM3,
PORT_PWM2,
PORT_PWM1,
PORT_PWM3CAP1,
PORT_PWM4CAP1,
PORT_PWM4CAP2,
PORT_PWM5CAP1,
PORT_PWM2CAP2,
PORT_CAPTURE,
};
static void capture_trampoline(void *context, const uint32_t channel_index, const hrt_abstime edge_time,
const uint32_t edge_state, const uint32_t overflow);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
Mode get_mode() { return _mode; }
virtual int init();
virtual int ioctl(file *filp, int cmd, unsigned long arg);
/** change the mode of the running module */
static int module_new_mode(const PortMode new_mode);
void mixerChanged() override;
/** @see ModuleBase::print_status() */
int print_status() override;
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
void retrieve_and_print_esc_info_thread_safe(const int motor_index);
/**
* Send a dshot command to one or all motors
* This is expected to be called from another thread.
* @param num_repetitions number of times to repeat, set at least to 1
* @param motor_index index or -1 for all
* @return 0 on success, <0 error otherwise
*/
int send_command_thread_safe(const dshot_command_t command, const int num_repetitions, const int motor_index);
int set_mode(const Mode new_mode);
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
bool telemetry_enabled() const { return _telemetry != nullptr; }
bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated) override;
private:
/** Disallow copy construction and move assignment. */
DShot(const DShot &) = delete;
DShot operator=(const DShot &) = delete;
enum class DShotConfig {
Disabled = 0,
DShot150 = 150,
DShot300 = 300,
DShot600 = 600,
DShot1200 = 1200,
};
struct Command {
dshot_command_t command{};
int num_repetitions{0};
uint8_t motor_mask{0xff};
bool valid() const { return num_repetitions > 0; }
void clear() { num_repetitions = 0; }
};
struct Telemetry {
DShotTelemetry handler{};
uORB::PublicationData<esc_status_s> esc_status_pub{ORB_ID(esc_status)};
int last_motor_index{-1};
};
void capture_callback(const uint32_t channel_index, const hrt_abstime edge_time,
const uint32_t edge_state, const uint32_t overflow);
int capture_ioctl(file *filp, const int cmd, const unsigned long arg);
void enable_dshot_outputs(const bool enabled);
void init_telemetry(const char *device);
void handle_new_telemetry_data(const int motor_index, const DShotTelemetry::EscData &data);
int pwm_ioctl(file *filp, const int cmd, const unsigned long arg);
int request_esc_info();
void Run() override;
void update_params();
void update_telemetry_num_motors();
MixingOutput _mixing_output{DIRECT_PWM_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
Telemetry *_telemetry{nullptr};
static char _telemetry_device[20];
static px4::atomic_bool _request_telemetry_init;
px4::atomic<Command *> _new_command{nullptr};
px4::atomic<DShotTelemetry::OutputBuffer *> _request_esc_info{nullptr};
bool _outputs_initialized{false};
bool _outputs_on{false};
bool _waiting_for_esc_info{false};
unsigned _num_outputs{0};
uint32_t _output_mask{0};
int _class_instance{-1};
perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
Command _current_command{};
Mode _mode{MODE_NONE};
uORB::Subscription _param_sub{ORB_ID(parameter_update)};
DEFINE_PARAMETERS(
(ParamInt<px4::params::DSHOT_CONFIG>) _param_dshot_config,
(ParamFloat<px4::params::DSHOT_MIN>) _param_dshot_min,
(ParamInt<px4::params::MOT_POLE_COUNT>) _param_mot_pole_count
)
};

2
src/drivers/dshot/telemetry.cpp → src/drivers/dshot/DShotTelemetry.cpp
View File

@ -31,7 +31,7 @@
*
****************************************************************************/
#include "telemetry.h"
#include "DShotTelemetry.h"
#include <px4_platform_common/log.h>

0
src/drivers/dshot/telemetry.h → src/drivers/dshot/DShotTelemetry.h
View File