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@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (c) 2015-2017 PX4 Development Team. All rights reserved.
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@ -31,530 +31,340 @@
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*
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****************************************************************************/
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#include <errno.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <string.h>
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#include <math.h>
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#include <px4_platform_common/tasks.h>
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#include <px4_platform_common/getopt.h>
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#include <px4_platform_common/posix.h>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionInterval.hpp>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/actuator_outputs.h>
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#include <uORB/topics/actuator_armed.h>
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#include <uORB/topics/rc_channels.h>
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#include <uORB/topics/parameter_update.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_mixer.h>
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#include <lib/mixer/MixerGroup.hpp>
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#include <lib/mixer/mixer_load.h>
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#include <parameters/param.h>
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#include <output_limit/output_limit.h>
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#include <perf/perf_counter.h>
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#include "linux_pwm_out.hpp"
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#include <board_pwm_out.h>
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#include <drivers/drv_hrt.h>
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using namespace time_literals;
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using namespace pwm_out;
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namespace pwm_out
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LinuxPWMOut::LinuxPWMOut() :
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CDev("/dev/pwm_out"),
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OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default),
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_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
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_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": interval"))
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{
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static px4_task_t _task_handle = -1;
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volatile bool _task_should_exit = false;
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static bool _is_running = false;
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static int _max_num_outputs = 8; ///< maximum number of outputs the driver should use
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static char _mixer_filename[64] = "etc/mixers/quad_x.main.mix";
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// subscriptions
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int _controls_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
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int _armed_sub = -1;
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// publications
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orb_advert_t _outputs_pub = nullptr;
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orb_advert_t _rc_pub = nullptr;
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perf_counter_t _perf_control_latency = nullptr;
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// topic structures
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actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
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orb_id_t _controls_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
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actuator_outputs_s _outputs;
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actuator_armed_s _armed;
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// polling
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uint8_t _poll_fds_num = 0;
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px4_pollfd_struct_t _poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
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// control groups related
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uint32_t _groups_required = 0;
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uint32_t _groups_subscribed = 0;
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output_limit_t _pwm_limit;
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// esc parameters
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int32_t _pwm_disarmed;
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int32_t _pwm_min;
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int32_t _pwm_max;
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MixerGroup *_mixer_group = nullptr;
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static void usage();
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static void start();
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static void stop();
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static int task_main_trampoline(int argc, char *argv[]);
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static void subscribe();
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static void task_main(int argc, char *argv[]);
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static void update_params(Mixer::Airmode &airmode);
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/* mixer initialization */
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int initialize_mixer(const char *mixer_filename);
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int mixer_control_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input);
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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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{
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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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return 0;
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_mixing_output.setAllMinValues(PWM_DEFAULT_MIN);
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_mixing_output.setAllMaxValues(PWM_DEFAULT_MAX);
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}
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void update_params(Mixer::Airmode &airmode)
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LinuxPWMOut::~LinuxPWMOut()
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{
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// multicopter air-mode
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param_t param_handle = param_find("MC_AIRMODE");
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/* clean up the alternate device node */
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unregister_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH, _class_instance);
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if (param_handle != PARAM_INVALID) {
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param_get(param_handle, (int32_t *)&airmode);
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}
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perf_free(_cycle_perf);
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perf_free(_interval_perf);
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delete _pwm_out;
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}
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int initialize_mixer(const char *mixer_filename)
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int LinuxPWMOut::init()
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{
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char buf[4096];
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unsigned buflen = sizeof(buf);
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memset(buf, '\0', buflen);
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/* do regular cdev init */
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int ret = CDev::init();
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_mixer_group = new MixerGroup();
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// PX4_INFO("Trying to initialize mixer from config file %s", mixer_filename);
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if (load_mixer_file(mixer_filename, buf, buflen) == 0) {
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if (_mixer_group->load_from_buf(mixer_control_callback, (uintptr_t) &_controls, buf, buflen) == 0) {
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PX4_INFO("Loaded mixer from file %s", mixer_filename);
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return 0;
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} else {
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PX4_ERR("Unable to parse from mixer config file %s", mixer_filename);
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if (ret != OK) {
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return ret;
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}
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} else {
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PX4_ERR("Unable to load config file %s", mixer_filename);
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}
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/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
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_class_instance = register_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH);
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if (_mixer_group->count() <= 0) {
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PX4_ERR("Mixer initialization failed");
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return -1;
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}
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_mixing_output.setDriverInstance(_class_instance);
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return 0;
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}
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_pwm_out = new BOARD_PWM_OUT_IMPL(MAX_ACTUATORS);
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ret = _pwm_out->init();
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void subscribe()
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{
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memset(_controls, 0, sizeof(_controls));
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memset(_poll_fds, 0, sizeof(_poll_fds));
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/* set up ORB topic names */
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_controls_topics[0] = ORB_ID(actuator_controls_0);
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_controls_topics[1] = ORB_ID(actuator_controls_1);
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_controls_topics[2] = ORB_ID(actuator_controls_2);
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_controls_topics[3] = ORB_ID(actuator_controls_3);
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// Subscribe for orb topics
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for (uint8_t i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
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if (_groups_required & (1 << i)) {
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PX4_DEBUG("subscribe to actuator_controls_%d", i);
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_controls_subs[i] = orb_subscribe(_controls_topics[i]);
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} else {
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_controls_subs[i] = -1;
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}
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if (_controls_subs[i] >= 0) {
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_poll_fds[_poll_fds_num].fd = _controls_subs[i];
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_poll_fds[_poll_fds_num].events = POLLIN;
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_poll_fds_num++;
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}
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_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
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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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_perf_control_latency = perf_alloc(PC_ELAPSED, "linux_pwm_out control latency");
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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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PWMOutBase *pwm_out = new BOARD_PWM_OUT_IMPL(_max_num_outputs);
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if (pwm_out->init() != 0) {
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if (ret != 0) {
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PX4_ERR("PWM output init failed");
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delete pwm_out;
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delete _pwm_out;
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_pwm_out = nullptr;
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return ret;
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}
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update_params();
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ScheduleNow();
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return ret;
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}
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int LinuxPWMOut::task_spawn(int argc, char *argv[])
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{
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LinuxPWMOut *instance = new LinuxPWMOut();
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if (instance) {
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_object.store(instance);
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_task_id = task_id_is_work_queue;
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if (instance->init() == PX4_OK) {
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return PX4_OK;
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}
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} else {
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PX4_ERR("alloc failed");
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}
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delete instance;
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_object.store(nullptr);
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_task_id = -1;
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return PX4_ERROR;
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}
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bool LinuxPWMOut::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
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unsigned num_outputs, unsigned num_control_groups_updated)
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{
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_pwm_out->send_output_pwm(outputs, num_outputs);
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return true;
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}
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void LinuxPWMOut::Run()
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{
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if (should_exit()) {
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ScheduleClear();
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_mixing_output.unregister();
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exit_and_cleanup();
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return;
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}
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_mixer_group->groups_required(_groups_required);
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perf_begin(_cycle_perf);
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perf_count(_interval_perf);
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// subscribe and set up polling
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subscribe();
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Mixer::Airmode airmode = Mixer::Airmode::disabled;
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update_params(airmode);
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uORB::SubscriptionInterval parameter_update_sub{ORB_ID(parameter_update), 1_s};
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int rc_channels_sub = -1;
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// Start disarmed
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_armed.armed = false;
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_armed.prearmed = false;
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output_limit_init(&_pwm_limit);
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while (!_task_should_exit) {
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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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if (_mixer_group) {
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_mixer_group->set_airmode(airmode);
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}
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int pret = px4_poll(_poll_fds, _poll_fds_num, 10);
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/* Timed out, do a periodic check for _task_should_exit. */
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if (pret == 0 && !_armed.in_esc_calibration_mode) {
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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(10000);
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continue;
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}
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/* get controls for required topics */
|
|
|
|
|
unsigned poll_id = 0;
|
|
|
|
|
|
|
|
|
|
for (uint8_t i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
|
|
|
|
|
if (_controls_subs[i] >= 0) {
|
|
|
|
|
if (_poll_fds[poll_id].revents & POLLIN) {
|
|
|
|
|
orb_copy(_controls_topics[i], _controls_subs[i], &_controls[i]);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
poll_id++;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (_armed.in_esc_calibration_mode) {
|
|
|
|
|
if (rc_channels_sub == -1) {
|
|
|
|
|
// only subscribe when really needed: esc calibration is not something we use regularily
|
|
|
|
|
rc_channels_sub = orb_subscribe(ORB_ID(rc_channels));
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
rc_channels_s rc_channels;
|
|
|
|
|
int ret = orb_copy(ORB_ID(rc_channels), rc_channels_sub, &rc_channels);
|
|
|
|
|
_controls[0].control[0] = 0.f;
|
|
|
|
|
_controls[0].control[1] = 0.f;
|
|
|
|
|
_controls[0].control[2] = 0.f;
|
|
|
|
|
int channel = rc_channels.function[rc_channels_s::FUNCTION_THROTTLE];
|
|
|
|
|
|
|
|
|
|
if (ret == 0 && channel >= 0 && channel < (int)(sizeof(rc_channels.channels) / sizeof(rc_channels.channels[0]))) {
|
|
|
|
|
_controls[0].control[3] = rc_channels.channels[channel];
|
|
|
|
|
|
|
|
|
|
} else {
|
|
|
|
|
_controls[0].control[3] = 1.f;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
/* Switch off the PWM limit ramp for the calibration. */
|
|
|
|
|
_pwm_limit.state = OUTPUT_LIMIT_STATE_ON;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (_mixer_group != nullptr) {
|
|
|
|
|
/* do mixing */
|
|
|
|
|
_outputs.noutputs = _mixer_group->mix(_outputs.output, actuator_outputs_s::NUM_ACTUATOR_OUTPUTS);
|
|
|
|
|
|
|
|
|
|
/* disable unused ports by setting their output to NaN */
|
|
|
|
|
for (size_t i = _outputs.noutputs; i < _outputs.NUM_ACTUATOR_OUTPUTS; i++) {
|
|
|
|
|
_outputs.output[i] = NAN;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
const uint16_t reverse_mask = 0;
|
|
|
|
|
uint16_t disarmed_pwm[actuator_outputs_s::NUM_ACTUATOR_OUTPUTS];
|
|
|
|
|
uint16_t min_pwm[actuator_outputs_s::NUM_ACTUATOR_OUTPUTS];
|
|
|
|
|
uint16_t max_pwm[actuator_outputs_s::NUM_ACTUATOR_OUTPUTS];
|
|
|
|
|
|
|
|
|
|
for (unsigned int i = 0; i < actuator_outputs_s::NUM_ACTUATOR_OUTPUTS; i++) {
|
|
|
|
|
disarmed_pwm[i] = _pwm_disarmed;
|
|
|
|
|
min_pwm[i] = _pwm_min;
|
|
|
|
|
max_pwm[i] = _pwm_max;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
uint16_t pwm[actuator_outputs_s::NUM_ACTUATOR_OUTPUTS];
|
|
|
|
|
|
|
|
|
|
// TODO FIXME: pre-armed seems broken
|
|
|
|
|
output_limit_calc(_armed.armed,
|
|
|
|
|
false/*_armed.prearmed*/,
|
|
|
|
|
_outputs.noutputs,
|
|
|
|
|
reverse_mask,
|
|
|
|
|
disarmed_pwm,
|
|
|
|
|
min_pwm,
|
|
|
|
|
max_pwm,
|
|
|
|
|
_outputs.output,
|
|
|
|
|
pwm,
|
|
|
|
|
&_pwm_limit);
|
|
|
|
|
|
|
|
|
|
if (_armed.lockdown || _armed.manual_lockdown) {
|
|
|
|
|
pwm_out->send_output_pwm(disarmed_pwm, _outputs.noutputs);
|
|
|
|
|
|
|
|
|
|
} else if (_armed.in_esc_calibration_mode) {
|
|
|
|
|
|
|
|
|
|
uint16_t pwm_value;
|
|
|
|
|
|
|
|
|
|
if (_controls[0].control[3] > 0.5f) { // use throttle to decide which value to use
|
|
|
|
|
pwm_value = _pwm_max;
|
|
|
|
|
|
|
|
|
|
} else {
|
|
|
|
|
pwm_value = _pwm_min;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
for (uint32_t i = 0; i < _outputs.noutputs; ++i) {
|
|
|
|
|
pwm[i] = pwm_value;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
pwm_out->send_output_pwm(pwm, _outputs.noutputs);
|
|
|
|
|
|
|
|
|
|
} else {
|
|
|
|
|
pwm_out->send_output_pwm(pwm, _outputs.noutputs);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
_outputs.timestamp = hrt_absolute_time();
|
|
|
|
|
|
|
|
|
|
if (_outputs_pub != nullptr) {
|
|
|
|
|
orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &_outputs);
|
|
|
|
|
|
|
|
|
|
} else {
|
|
|
|
|
_outputs_pub = orb_advertise(ORB_ID(actuator_outputs), &_outputs);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// use first valid timestamp_sample for latency tracking
|
|
|
|
|
for (int i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
|
|
|
|
|
const bool required = _groups_required & (1 << i);
|
|
|
|
|
const hrt_abstime ×tamp_sample = _controls[i].timestamp_sample;
|
|
|
|
|
|
|
|
|
|
if (required && (timestamp_sample > 0)) {
|
|
|
|
|
perf_set_elapsed(_perf_control_latency, _outputs.timestamp - timestamp_sample);
|
|
|
|
|
break;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
} else {
|
|
|
|
|
PX4_ERR("Could not mix output! Exiting...");
|
|
|
|
|
_task_should_exit = true;
|
|
|
|
|
}
|
|
|
|
|
_mixing_output.update();
|
|
|
|
|
|
|
|
|
|
// check for parameter updates
|
|
|
|
|
if (parameter_update_sub.updated()) {
|
|
|
|
|
if (_parameter_update_sub.updated()) {
|
|
|
|
|
// clear update
|
|
|
|
|
parameter_update_s pupdate;
|
|
|
|
|
parameter_update_sub.copy(&pupdate);
|
|
|
|
|
_parameter_update_sub.copy(&pupdate);
|
|
|
|
|
|
|
|
|
|
// update parameters from storage
|
|
|
|
|
update_params(airmode);
|
|
|
|
|
}
|
|
|
|
|
update_params();
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
delete pwm_out;
|
|
|
|
|
|
|
|
|
|
for (uint8_t i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
|
|
|
|
|
if (_controls_subs[i] >= 0) {
|
|
|
|
|
orb_unsubscribe(_controls_subs[i]);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (_armed_sub != -1) {
|
|
|
|
|
orb_unsubscribe(_armed_sub);
|
|
|
|
|
_armed_sub = -1;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (rc_channels_sub != -1) {
|
|
|
|
|
orb_unsubscribe(rc_channels_sub);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
perf_free(_perf_control_latency);
|
|
|
|
|
|
|
|
|
|
_is_running = false;
|
|
|
|
|
_mixing_output.updateSubscriptions(false);
|
|
|
|
|
|
|
|
|
|
perf_end(_cycle_perf);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
int task_main_trampoline(int argc, char *argv[])
|
|
|
|
|
void LinuxPWMOut::update_params()
|
|
|
|
|
{
|
|
|
|
|
task_main(argc, argv);
|
|
|
|
|
return 0;
|
|
|
|
|
}
|
|
|
|
|
updateParams();
|
|
|
|
|
|
|
|
|
|
void start()
|
|
|
|
|
{
|
|
|
|
|
_task_should_exit = false;
|
|
|
|
|
|
|
|
|
|
/* 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) {
|
|
|
|
|
PX4_ERR("task start failed");
|
|
|
|
|
// skip update when armed
|
|
|
|
|
if (_mixing_output.armed().armed) {
|
|
|
|
|
return;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
int32_t pwm_min_default = PWM_DEFAULT_MIN;
|
|
|
|
|
int32_t pwm_max_default = PWM_DEFAULT_MAX;
|
|
|
|
|
int32_t pwm_disarmed_default = 0;
|
|
|
|
|
|
|
|
|
|
void stop()
|
|
|
|
|
{
|
|
|
|
|
_task_should_exit = true;
|
|
|
|
|
const char *prefix;
|
|
|
|
|
|
|
|
|
|
while (_is_running) {
|
|
|
|
|
usleep(200000);
|
|
|
|
|
PX4_INFO(".");
|
|
|
|
|
}
|
|
|
|
|
if (_class_instance == CLASS_DEVICE_PRIMARY) {
|
|
|
|
|
prefix = "PWM_MAIN";
|
|
|
|
|
|
|
|
|
|
_task_handle = -1;
|
|
|
|
|
}
|
|
|
|
|
param_get(param_find("PWM_MAIN_MIN"), &pwm_min_default);
|
|
|
|
|
param_get(param_find("PWM_MAIN_MAX"), &pwm_max_default);
|
|
|
|
|
param_get(param_find("PWM_MAIN_DISARM"), &pwm_disarmed_default);
|
|
|
|
|
|
|
|
|
|
void usage()
|
|
|
|
|
{
|
|
|
|
|
PX4_INFO("usage: linux_pwm_out start [-m mixerfile]");
|
|
|
|
|
PX4_INFO(" -m mixerfile : path to mixerfile");
|
|
|
|
|
PX4_INFO(" (default etc/mixers/quad_x.main.mix)");
|
|
|
|
|
PX4_INFO(" -n num_outputs : maximum number of outputs the driver should use");
|
|
|
|
|
PX4_INFO(" (default is 8)");
|
|
|
|
|
PX4_INFO(" linux_pwm_out stop");
|
|
|
|
|
PX4_INFO(" linux_pwm_out status");
|
|
|
|
|
}
|
|
|
|
|
} else if (_class_instance == CLASS_DEVICE_SECONDARY) {
|
|
|
|
|
prefix = "PWM_AUX";
|
|
|
|
|
|
|
|
|
|
} // namespace pwm_out
|
|
|
|
|
param_get(param_find("PWM_AUX_MIN"), &pwm_min_default);
|
|
|
|
|
param_get(param_find("PWM_AUX_MAX"), &pwm_max_default);
|
|
|
|
|
param_get(param_find("PWM_AUX_DISARM"), &pwm_disarmed_default);
|
|
|
|
|
|
|
|
|
|
/* driver 'main' command */
|
|
|
|
|
extern "C" __EXPORT int linux_pwm_out_main(int argc, char *argv[]);
|
|
|
|
|
} else if (_class_instance == CLASS_DEVICE_TERTIARY) {
|
|
|
|
|
prefix = "PWM_EXTRA";
|
|
|
|
|
|
|
|
|
|
int linux_pwm_out_main(int argc, char *argv[])
|
|
|
|
|
{
|
|
|
|
|
int ch;
|
|
|
|
|
int myoptind = 1;
|
|
|
|
|
const char *myoptarg = nullptr;
|
|
|
|
|
|
|
|
|
|
char *verb = nullptr;
|
|
|
|
|
|
|
|
|
|
if (argc >= 2) {
|
|
|
|
|
verb = argv[1];
|
|
|
|
|
param_get(param_find("PWM_EXTRA_MIN"), &pwm_min_default);
|
|
|
|
|
param_get(param_find("PWM_EXTRA_MAX"), &pwm_max_default);
|
|
|
|
|
param_get(param_find("PWM_EXTRA_DISARM"), &pwm_disarmed_default);
|
|
|
|
|
|
|
|
|
|
} else {
|
|
|
|
|
return 1;
|
|
|
|
|
PX4_ERR("invalid class instance %d", _class_instance);
|
|
|
|
|
return;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
while ((ch = px4_getopt(argc, argv, "m:n:", &myoptind, &myoptarg)) != EOF) {
|
|
|
|
|
switch (ch) {
|
|
|
|
|
char str[17];
|
|
|
|
|
|
|
|
|
|
case 'm':
|
|
|
|
|
strncpy(pwm_out::_mixer_filename, myoptarg, sizeof(pwm_out::_mixer_filename) - 1);
|
|
|
|
|
for (unsigned i = 0; i < MAX_ACTUATORS; i++) {
|
|
|
|
|
// PWM_MAIN_MINx
|
|
|
|
|
{
|
|
|
|
|
sprintf(str, "%s_MIN%u", prefix, i + 1);
|
|
|
|
|
int32_t pwm_min = -1;
|
|
|
|
|
|
|
|
|
|
if (param_get(param_find(str), &pwm_min) == PX4_OK && pwm_min >= 0) {
|
|
|
|
|
_mixing_output.minValue(i) = math::constrain(pwm_min, PWM_LOWEST_MIN, PWM_HIGHEST_MIN);
|
|
|
|
|
|
|
|
|
|
if (pwm_min != _mixing_output.minValue(i)) {
|
|
|
|
|
int32_t pwm_min_new = _mixing_output.minValue(i);
|
|
|
|
|
param_set(param_find(str), &pwm_min_new);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
} else {
|
|
|
|
|
_mixing_output.minValue(i) = pwm_min_default;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// PWM_MAIN_MAXx
|
|
|
|
|
{
|
|
|
|
|
sprintf(str, "%s_MAX%u", prefix, i + 1);
|
|
|
|
|
int32_t pwm_max = -1;
|
|
|
|
|
|
|
|
|
|
if (param_get(param_find(str), &pwm_max) == PX4_OK && pwm_max >= 0) {
|
|
|
|
|
_mixing_output.maxValue(i) = math::constrain(pwm_max, PWM_LOWEST_MAX, PWM_HIGHEST_MAX);
|
|
|
|
|
|
|
|
|
|
if (pwm_max != _mixing_output.maxValue(i)) {
|
|
|
|
|
int32_t pwm_max_new = _mixing_output.maxValue(i);
|
|
|
|
|
param_set(param_find(str), &pwm_max_new);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
} else {
|
|
|
|
|
_mixing_output.maxValue(i) = pwm_max_default;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// PWM_MAIN_FAILx
|
|
|
|
|
{
|
|
|
|
|
sprintf(str, "%s_FAIL%u", prefix, i + 1);
|
|
|
|
|
int32_t pwm_failsafe = -1;
|
|
|
|
|
|
|
|
|
|
if (param_get(param_find(str), &pwm_failsafe) == PX4_OK && pwm_failsafe >= 0) {
|
|
|
|
|
_mixing_output.failsafeValue(i) = math::constrain(pwm_failsafe, 0, PWM_HIGHEST_MAX);
|
|
|
|
|
|
|
|
|
|
if (pwm_failsafe != _mixing_output.failsafeValue(i)) {
|
|
|
|
|
int32_t pwm_fail_new = _mixing_output.failsafeValue(i);
|
|
|
|
|
param_set(param_find(str), &pwm_fail_new);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// PWM_MAIN_DISx
|
|
|
|
|
{
|
|
|
|
|
sprintf(str, "%s_DIS%u", prefix, i + 1);
|
|
|
|
|
int32_t pwm_dis = -1;
|
|
|
|
|
|
|
|
|
|
if (param_get(param_find(str), &pwm_dis) == PX4_OK && pwm_dis >= 0) {
|
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_mixing_output.disarmedValue(i) = math::constrain(pwm_dis, 0, PWM_HIGHEST_MAX);
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if (pwm_dis != _mixing_output.disarmedValue(i)) {
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int32_t pwm_dis_new = _mixing_output.disarmedValue(i);
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param_set(param_find(str), &pwm_dis_new);
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}
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} else {
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_mixing_output.disarmedValue(i) = pwm_disarmed_default;
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}
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}
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// PWM_MAIN_REVx
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{
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sprintf(str, "%s_REV%u", prefix, i + 1);
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int32_t pwm_rev = 0;
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if (param_get(param_find(str), &pwm_rev) == PX4_OK) {
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uint16_t &reverse_pwm_mask = _mixing_output.reverseOutputMask();
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if (pwm_rev >= 1) {
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reverse_pwm_mask = reverse_pwm_mask | (2 << i);
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} else {
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reverse_pwm_mask = reverse_pwm_mask & ~(2 << i);
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}
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}
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}
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}
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if (_mixing_output.mixers()) {
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|
int16_t values[MAX_ACTUATORS] {};
|
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|
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|
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for (unsigned i = 0; i < MAX_ACTUATORS; i++) {
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|
|
sprintf(str, "%s_TRIM%u", prefix, i + 1);
|
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|
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|
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|
|
float pval = 0.0f;
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|
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param_get(param_find(str), &pval);
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|
|
values[i] = roundf(10000 * pval);
|
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|
|
}
|
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|
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|
|
|
// copy the trim values to the mixer offsets
|
|
|
|
|
_mixing_output.mixers()->set_trims(values, MAX_ACTUATORS);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
int LinuxPWMOut::ioctl(device::file_t *filp, int cmd, unsigned long arg)
|
|
|
|
|
{
|
|
|
|
|
int ret = OK;
|
|
|
|
|
|
|
|
|
|
PX4_DEBUG("ioctl cmd: %d, arg: %ld", cmd, arg);
|
|
|
|
|
|
|
|
|
|
lock();
|
|
|
|
|
|
|
|
|
|
switch (cmd) {
|
|
|
|
|
case MIXERIOCRESET:
|
|
|
|
|
_mixing_output.resetMixerThreadSafe();
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
|
|
case 'n': {
|
|
|
|
|
unsigned long max_num = strtoul(myoptarg, nullptr, 10);
|
|
|
|
|
|
|
|
|
|
if (max_num <= 0) {
|
|
|
|
|
max_num = 8;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (max_num > actuator_outputs_s::NUM_ACTUATOR_OUTPUTS) {
|
|
|
|
|
max_num = actuator_outputs_s::NUM_ACTUATOR_OUTPUTS;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
pwm_out::_max_num_outputs = max_num;
|
|
|
|
|
}
|
|
|
|
|
case MIXERIOCLOADBUF: {
|
|
|
|
|
const char *buf = (const char *)arg;
|
|
|
|
|
unsigned buflen = strlen(buf);
|
|
|
|
|
ret = _mixing_output.loadMixerThreadSafe(buf, buflen);
|
|
|
|
|
update_params();
|
|
|
|
|
break;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
default:
|
|
|
|
|
ret = -ENOTTY;
|
|
|
|
|
break;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
/** gets the parameters for the esc's pwm */
|
|
|
|
|
param_get(param_find("PWM_MAIN_DISARM"), &pwm_out::_pwm_disarmed);
|
|
|
|
|
param_get(param_find("PWM_MAIN_MIN"), &pwm_out::_pwm_min);
|
|
|
|
|
param_get(param_find("PWM_MAIN_MAX"), &pwm_out::_pwm_max);
|
|
|
|
|
unlock();
|
|
|
|
|
|
|
|
|
|
/*
|
|
|
|
|
* Start/load the driver.
|
|
|
|
|
*/
|
|
|
|
|
if (!strcmp(verb, "start")) {
|
|
|
|
|
if (pwm_out::_is_running) {
|
|
|
|
|
PX4_WARN("pwm_out already running");
|
|
|
|
|
return 1;
|
|
|
|
|
if (ret == -ENOTTY) {
|
|
|
|
|
ret = CDev::ioctl(filp, cmd, arg);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
pwm_out::start();
|
|
|
|
|
}
|
|
|
|
|
return ret;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
else if (!strcmp(verb, "stop")) {
|
|
|
|
|
if (!pwm_out::_is_running) {
|
|
|
|
|
PX4_WARN("pwm_out is not running");
|
|
|
|
|
return 1;
|
|
|
|
|
}
|
|
|
|
|
int LinuxPWMOut::custom_command(int argc, char *argv[])
|
|
|
|
|
{
|
|
|
|
|
return print_usage("unknown command");
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
pwm_out::stop();
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
else if (!strcmp(verb, "status")) {
|
|
|
|
|
PX4_WARN("pwm_out is %s", pwm_out::_is_running ? "running" : "not running");
|
|
|
|
|
int LinuxPWMOut::print_status()
|
|
|
|
|
{
|
|
|
|
|
perf_print_counter(_cycle_perf);
|
|
|
|
|
perf_print_counter(_interval_perf);
|
|
|
|
|
_mixing_output.printStatus();
|
|
|
|
|
return 0;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
} else {
|
|
|
|
|
pwm_out::usage();
|
|
|
|
|
return 1;
|
|
|
|
|
int LinuxPWMOut::print_usage(const char *reason)
|
|
|
|
|
{
|
|
|
|
|
if (reason) {
|
|
|
|
|
PX4_WARN("%s\n", reason);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
PRINT_MODULE_DESCRIPTION(
|
|
|
|
|
R"DESCR_STR(
|
|
|
|
|
### Description
|
|
|
|
|
Linux PWM output driver with board-specific backend implementation.
|
|
|
|
|
)DESCR_STR");
|
|
|
|
|
|
|
|
|
|
PRINT_MODULE_USAGE_NAME("linux_pwm_out", "driver");
|
|
|
|
|
PRINT_MODULE_USAGE_COMMAND("start");
|
|
|
|
|
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
|
|
|
|
|
|
|
|
|
return 0;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
extern "C" __EXPORT int linux_pwm_out_main(int argc, char *argv[])
|
|
|
|
|
{
|
|
|
|
|
return LinuxPWMOut::main(argc, argv);
|
|
|
|
|
}
|
|
|
|
|
|
Beat Küng
Daniel Agar