PWM12 mode for pwm_out and dshot

2026-05-21 01:12:11 +00:00 · 2021-01-28 10:02:40 -05:00
parent 0614789db3
commit 15e76ad993
5 changed files with 113 additions and 17 deletions
--- a/src/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
@@ -232,12 +232,13 @@ typedef uint16_t	servo_position_t;
 #define PWM_SERVO_MODE_5PWM1CAP    10
 #define PWM_SERVO_MODE_6PWM        11
 #define PWM_SERVO_MODE_8PWM        12
-#define PWM_SERVO_MODE_14PWM       13
-#define PWM_SERVO_MODE_4CAP        14
-#define PWM_SERVO_MODE_5CAP        15
-#define PWM_SERVO_MODE_6CAP        16
-#define PWM_SERVO_ENTER_TEST_MODE  17
-#define PWM_SERVO_EXIT_TEST_MODE   18
+#define PWM_SERVO_MODE_12PWM       13
+#define PWM_SERVO_MODE_14PWM       14
+#define PWM_SERVO_MODE_4CAP        15
+#define PWM_SERVO_MODE_5CAP        16
+#define PWM_SERVO_MODE_6CAP        17
+#define PWM_SERVO_ENTER_TEST_MODE  18
+#define PWM_SERVO_EXIT_TEST_MODE   19
 #define PWM_SERVO_SET_MODE         _PX4_IOC(_PWM_SERVO_BASE, 34)

 /*
--- a/src/drivers/dshot/DShot.cpp
+++ b/src/drivers/dshot/DShot.cpp
@@ -221,6 +221,18 @@ int DShot::set_mode(const Mode mode)
 		break;
 #endif

+#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 12
+
+	case MODE_12PWM:
+		PX4_DEBUG("MODE_12PWM");
+		// default output rates
+		_output_mask = 0xfff;
+		_outputs_initialized = false;
+		_num_outputs = 12;
+
+		break;
+#endif
+
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14

 	case MODE_14PWM:
@@ -642,6 +654,9 @@ int DShot::ioctl(file *filp, int cmd, unsigned long arg)
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
 	case MODE_8PWM:
 #endif
+#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 12
+	case MODE_12PWM:
+#endif
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14
 	case MODE_14PWM:
 #endif
@@ -680,6 +695,13 @@ int DShot::pwm_ioctl(file *filp, const int cmd, const unsigned long arg)
 			break;
 #endif

+#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 12
+
+		case MODE_12PWM:
+			*(unsigned *)arg = 12;
+			break;
+#endif
+
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8

 		case MODE_8PWM:
@@ -1003,6 +1025,9 @@ int DShot::module_new_mode(const PortMode new_mode)
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 8
 		mode = DShot::MODE_8PWM;
 #endif
+#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 12
+		mode = DShot::MODE_12PWM;
+#endif
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 14
 		mode = DShot::MODE_14PWM;
 #endif
@@ -1268,6 +1293,16 @@ int DShot::custom_command(int argc, char *argv[])

 	} else if (!strcmp(verb, "mode_pwm8")) {
 		new_mode = PORT_PWM8;
+#endif
+#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 12
+
+	} else if (!strcmp(verb, "mode_pwm12")) {
+		new_mode = PORT_PWM12;
+#endif
+#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14
+
+	} else if (!strcmp(verb, "mode_pwm14")) {
+		new_mode = PORT_PWM14;
 #endif
 	}

@@ -1371,23 +1406,29 @@ After saving, the reversed direction will be regarded as the normal one. So to r

 	PRINT_MODULE_USAGE_COMMAND("mode_gpio");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("mode_pwm", "Select all available pins as PWM");
+#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14
+	PRINT_MODULE_USAGE_COMMAND("mode_pwm14");
+#endif
+#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 12
+	PRINT_MODULE_USAGE_COMMAND("mode_pwm12");
+#endif
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
-  PRINT_MODULE_USAGE_COMMAND("mode_pwm8");
+	PRINT_MODULE_USAGE_COMMAND("mode_pwm8");
 #endif
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
-  PRINT_MODULE_USAGE_COMMAND("mode_pwm6");
-  PRINT_MODULE_USAGE_COMMAND("mode_pwm5");
-  PRINT_MODULE_USAGE_COMMAND("mode_pwm5cap1");
+	PRINT_MODULE_USAGE_COMMAND("mode_pwm6");
+	PRINT_MODULE_USAGE_COMMAND("mode_pwm5");
+	PRINT_MODULE_USAGE_COMMAND("mode_pwm5cap1");
 	PRINT_MODULE_USAGE_COMMAND("mode_pwm4");
-  PRINT_MODULE_USAGE_COMMAND("mode_pwm4cap1");
-  PRINT_MODULE_USAGE_COMMAND("mode_pwm4cap2");
-  PRINT_MODULE_USAGE_COMMAND("mode_pwm3");
-  PRINT_MODULE_USAGE_COMMAND("mode_pwm3cap1");
+	PRINT_MODULE_USAGE_COMMAND("mode_pwm4cap1");
+	PRINT_MODULE_USAGE_COMMAND("mode_pwm4cap2");
+	PRINT_MODULE_USAGE_COMMAND("mode_pwm3");
+	PRINT_MODULE_USAGE_COMMAND("mode_pwm3cap1");
 	PRINT_MODULE_USAGE_COMMAND("mode_pwm2");
-  PRINT_MODULE_USAGE_COMMAND("mode_pwm2cap2");
+	PRINT_MODULE_USAGE_COMMAND("mode_pwm2cap2");
 #endif
 #if defined(BOARD_HAS_PWM)
-  PRINT_MODULE_USAGE_COMMAND("mode_pwm1");
+	PRINT_MODULE_USAGE_COMMAND("mode_pwm1");
 #endif

 	PRINT_MODULE_USAGE_COMMAND_DESCR("telemetry", "Enable Telemetry on a UART");
--- a/src/drivers/dshot/DShot.h
+++ b/src/drivers/dshot/DShot.h
@@ -78,6 +78,7 @@ public:
 		MODE_5PWM1CAP,
 		MODE_6PWM,
 		MODE_8PWM,
+		MODE_12PWM,
 		MODE_14PWM,
 		MODE_4CAP,
 		MODE_5CAP,
@@ -90,6 +91,7 @@ public:
 		PORT_FULL_GPIO,
 		PORT_FULL_PWM,
 		PORT_PWM14,
+		PORT_PWM12,
 		PORT_PWM8,
 		PORT_PWM6,
 		PORT_PWM5,
--- a/src/drivers/pwm_out/PWMOut.cpp
+++ b/src/drivers/pwm_out/PWMOut.cpp
@@ -256,6 +256,22 @@ int PWMOut::set_mode(Mode mode)
 		break;
 #endif

+#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 12
+
+	case MODE_12PWM:
+		PX4_DEBUG("MODE_12PWM");
+		/* default output rates */
+		_pwm_default_rate = 50;
+		_pwm_alt_rate = 50;
+		_pwm_alt_rate_channels = 0;
+		_pwm_mask = 0xFFF;
+		_pwm_initialized = false;
+		_num_outputs = 12;
+		update_params();
+
+		break;
+#endif
+
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14

 	case MODE_14PWM:
@@ -751,6 +767,9 @@ int PWMOut::ioctl(file *filp, int cmd, unsigned long arg)
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
 	case MODE_8PWM:
 #endif
+#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 12
+	case MODE_12PWM:
+#endif
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14
 	case MODE_14PWM:
 #endif
@@ -1192,6 +1211,13 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 			break;
 #endif

+#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 12
+
+		case MODE_12PWM:
+			*(unsigned *)arg = 12;
+			break;
+#endif
+
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8

 		case MODE_8PWM:
@@ -1292,6 +1318,10 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 				ret = set_mode(MODE_8PWM);
 				break;

+			case PWM_SERVO_MODE_12PWM:
+				ret = set_mode(MODE_12PWM);
+				break;
+
 			case PWM_SERVO_MODE_14PWM:
 				ret = set_mode(MODE_14PWM);
 				break;
@@ -1546,6 +1576,9 @@ int PWMOut::fmu_new_mode(PortMode new_mode)
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 8
 		servo_mode = PWMOut::MODE_8PWM;
 #endif
+#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 12
+		servo_mode = PWMOut::MODE_12PWM;
+#endif
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 14
 		servo_mode = PWMOut::MODE_14PWM;
 #endif
@@ -1563,6 +1596,13 @@ int PWMOut::fmu_new_mode(PortMode new_mode)
 		servo_mode = PWMOut::MODE_14PWM;
 		break;
 #endif
+#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 12
+
+	case PORT_PWM12:
+		/* select 12-pin PWM mode */
+		servo_mode = PWMOut::MODE_12PWM;
+		break;
+#endif
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8

 	case PORT_PWM8:
@@ -1986,7 +2026,12 @@ int PWMOut::custom_command(int argc, char *argv[])
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8

 	} else if (!strcmp(verb, "mode_pwm8")) {
-		new_mode = PORT_PWM14;
+		new_mode = PORT_PWM8;
+#endif
+#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 12
+
+	} else if (!strcmp(verb, "mode_pwm12")) {
+		new_mode = PORT_PWM12;
 #endif
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14

@@ -2042,6 +2087,8 @@ int PWMOut::print_status()

 	case MODE_8PWM: mode_str = "pwm8"; break;

+	case MODE_12PWM: mode_str = "pwm12"; break;
+
 	case MODE_14PWM: mode_str = "pwm14"; break;

 	case MODE_4CAP: mode_str = "cap4"; break;
@@ -2113,6 +2160,9 @@ mixer files.
 # if BOARD_HAS_PWM >= 14
 	PRINT_MODULE_USAGE_COMMAND("mode_pwm14");
 # endif
+# if BOARD_HAS_PWM >= 12
+	PRINT_MODULE_USAGE_COMMAND("mode_pwm12");
+# endif
 # if BOARD_HAS_PWM >= 8
 	PRINT_MODULE_USAGE_COMMAND("mode_pwm8");
 # endif
--- a/src/drivers/pwm_out/PWMOut.hpp
+++ b/src/drivers/pwm_out/PWMOut.hpp
@@ -70,6 +70,7 @@ enum PortMode {
 	PORT_FULL_GPIO,
 	PORT_FULL_PWM,
 	PORT_PWM14,
+	PORT_PWM12,
 	PORT_PWM8,
 	PORT_PWM6,
 	PORT_PWM5,
@@ -109,6 +110,7 @@ public:
 		MODE_5PWM1CAP,
 		MODE_6PWM,
 		MODE_8PWM,
+		MODE_12PWM,
 		MODE_14PWM,
 		MODE_4CAP,
 		MODE_5CAP,