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PWM:Add Channel mask to up_pwm_servo_arm & up_pwm_servo_deinit

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This commit is contained in:
David Sidrane
2021-05-04 06:53:55 -07:00
committed by Lorenz Meier
parent 19fa5cfe25
commit 3d166d3279
7 changed files with 46 additions and 32 deletions
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10
platforms/nuttx/src/px4/nxp/imxrt/io_pins/pwm_servo.c
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@@ -104,10 +104,10 @@ int up_pwm_servo_init(uint32_t channel_mask)
return OK; return OK;
} }
void up_pwm_servo_deinit(void) void up_pwm_servo_deinit(uint32_t channel_mask)
{ {
/* disable the timers */ /* disable the timers */
up_pwm_servo_arm(false); up_pwm_servo_arm(false, channel_mask);
} }
int up_pwm_servo_set_rate_group_update(unsigned channel, unsigned rate) int up_pwm_servo_set_rate_group_update(unsigned channel, unsigned rate)
@@ -154,8 +154,8 @@ uint32_t up_pwm_servo_get_rate_group(unsigned group)
} }
void void
up_pwm_servo_arm(bool armed) up_pwm_servo_arm(bool armed, uint32_t channel_mask)
{ {
io_timer_set_enable(armed, IOTimerChanMode_OneShot, IO_TIMER_ALL_MODES_CHANNELS); io_timer_set_enable(armed, IOTimerChanMode_OneShot, channel_mask);
io_timer_set_enable(armed, IOTimerChanMode_PWMOut, IO_TIMER_ALL_MODES_CHANNELS); io_timer_set_enable(armed, IOTimerChanMode_PWMOut, channel_mask);
} }

10
platforms/nuttx/src/px4/nxp/kinetis/io_pins/pwm_servo.c
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@@ -105,10 +105,10 @@ int up_pwm_servo_init(uint32_t channel_mask)
return OK; return OK;
} }
void up_pwm_servo_deinit(void) void up_pwm_servo_deinit(uint32_t channel_mask)
{ {
/* disable the timers */ /* disable the timers */
up_pwm_servo_arm(false); up_pwm_servo_arm(false, channel_mask);
} }
int up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate) int up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate)
@@ -155,8 +155,8 @@ uint32_t up_pwm_servo_get_rate_group(unsigned group)
} }
void void
up_pwm_servo_arm(bool armed) up_pwm_servo_arm(bool armed, uint32_t channel_mask)
{ {
io_timer_set_enable(armed, IOTimerChanMode_OneShot, IO_TIMER_ALL_MODES_CHANNELS); io_timer_set_enable(armed, IOTimerChanMode_OneShot, channel_mask);
io_timer_set_enable(armed, IOTimerChanMode_PWMOut, IO_TIMER_ALL_MODES_CHANNELS); io_timer_set_enable(armed, IOTimerChanMode_PWMOut, channel_mask);
} }

10
platforms/nuttx/src/px4/nxp/s32k1xx/io_pins/pwm_servo.c
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@@ -102,10 +102,10 @@ int up_pwm_servo_init(uint32_t channel_mask)
return OK; return OK;
} }
void up_pwm_servo_deinit(void) void up_pwm_servo_deinit(uint32_t channel_mask)
{ {
/* disable the timers */ /* disable the timers */
up_pwm_servo_arm(false); up_pwm_servo_arm(false, channel_mask);
} }
int up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate) int up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate)
@@ -152,8 +152,8 @@ uint32_t up_pwm_servo_get_rate_group(unsigned group)
} }
void void
up_pwm_servo_arm(bool armed) up_pwm_servo_arm(bool armed, uint32_t channel_mask)
{ {
io_timer_set_enable(armed, IOTimerChanMode_OneShot, IO_TIMER_ALL_MODES_CHANNELS); io_timer_set_enable(armed, IOTimerChanMode_OneShot, channel_mask);
io_timer_set_enable(armed, IOTimerChanMode_PWMOut, IO_TIMER_ALL_MODES_CHANNELS); io_timer_set_enable(armed, IOTimerChanMode_PWMOut, channel_mask);
} }

10
platforms/nuttx/src/px4/stm/stm32_common/io_pins/pwm_servo.c
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@@ -109,10 +109,10 @@ int up_pwm_servo_init(uint32_t channel_mask)
return OK; return OK;
} }
void up_pwm_servo_deinit(void) void up_pwm_servo_deinit(uint32_t channel_mask)
{ {
/* disable the timers */ /* disable the timers */
up_pwm_servo_arm(false); up_pwm_servo_arm(false, channel_mask);
} }
int up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate) int up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate)
@@ -158,8 +158,8 @@ uint32_t up_pwm_servo_get_rate_group(unsigned group)
} }
void void
up_pwm_servo_arm(bool armed) up_pwm_servo_arm(bool armed, uint32_t channel_mask)
{ {
io_timer_set_enable(armed, IOTimerChanMode_OneShot, IO_TIMER_ALL_MODES_CHANNELS); io_timer_set_enable(armed, IOTimerChanMode_OneShot, channel_mask);
io_timer_set_enable(armed, IOTimerChanMode_PWMOut, IO_TIMER_ALL_MODES_CHANNELS); io_timer_set_enable(armed, IOTimerChanMode_PWMOut, channel_mask);
} }

16
src/drivers/drv_pwm_output.h
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@@ -317,8 +317,14 @@ __EXPORT extern int up_pwm_servo_init(uint32_t channel_mask);
/** /**
* De-initialise the PWM servo outputs. * De-initialise the PWM servo outputs.
*
* @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.
* A value of 0 is ALL channels
*
*/ */
__EXPORT extern void up_pwm_servo_deinit(void); __EXPORT extern void up_pwm_servo_deinit(uint32_t channel_mask);
/** /**
* Arm or disarm servo outputs. * Arm or disarm servo outputs.
@@ -330,8 +336,14 @@ __EXPORT extern void up_pwm_servo_deinit(void);
* *
* @param armed If true, outputs are armed; if false they * @param armed If true, outputs are armed; if false they
* are disarmed. * are disarmed.
*
* @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.
* A value of 0 is ALL channels
*
*/ */
__EXPORT extern void up_pwm_servo_arm(bool armed); __EXPORT extern void up_pwm_servo_arm(bool armed, uint32_t channel_mask);
/** /**
* Set the servo update rate for all rate groups. * Set the servo update rate for all rate groups.

18
src/drivers/pwm_out/PWMOut.cpp
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@@ -69,7 +69,7 @@ PWMOut::PWMOut(int instance, uint8_t output_base) :
PWMOut::~PWMOut() PWMOut::~PWMOut()
{ {
/* make sure servos are off */ /* make sure servos are off */
up_pwm_servo_deinit(); // TODO: review for multi up_pwm_servo_deinit(_pwm_mask);
/* clean up the alternate device node */ /* clean up the alternate device node */
unregister_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH, _class_instance); unregister_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH, _class_instance);
@@ -331,18 +331,20 @@ int PWMOut::set_mode(Mode mode)
_num_outputs = 0; _num_outputs = 0;
_mixing_output.setMaxNumOutputs(_num_outputs); _mixing_output.setMaxNumOutputs(_num_outputs);
update_params(); update_params();
if (old_mask != _pwm_mask) {
/* disable servo outputs - no need to set rates */
up_pwm_servo_deinit(); // TODO: review for multi
}
break; break;
default: default:
return -EINVAL; return -EINVAL;
} }
if (old_mask != _pwm_mask) {
/* disable servo outputs - no need to set rates */
if (old_mask != 0) {
up_pwm_servo_deinit(old_mask);
_pwm_on = false;
}
}
_mode = mode; _mode = mode;
return OK; return OK;
} }
@@ -563,7 +565,7 @@ void PWMOut::update_pwm_out_state(bool on)
_pwm_initialized = true; _pwm_initialized = true;
} }
up_pwm_servo_arm(on); up_pwm_servo_arm(on, _pwm_mask);
} }
bool PWMOut::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], bool PWMOut::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],

4
src/modules/px4iofirmware/mixer.cpp
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@@ -353,14 +353,14 @@ mixer_tick()
if (needs_to_arm && !mixer_servos_armed) { if (needs_to_arm && !mixer_servos_armed) {
/* need to arm, but not armed */ /* need to arm, but not armed */
up_pwm_servo_arm(true); up_pwm_servo_arm(true, 0);
mixer_servos_armed = true; mixer_servos_armed = true;
atomic_modify_or(&r_status_flags, PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED); atomic_modify_or(&r_status_flags, PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED);
isr_debug(5, "> PWM enabled"); isr_debug(5, "> PWM enabled");
} else if (!needs_to_arm && mixer_servos_armed) { } else if (!needs_to_arm && mixer_servos_armed) {
/* armed but need to disarm */ /* armed but need to disarm */
up_pwm_servo_arm(false); up_pwm_servo_arm(false, 0);
mixer_servos_armed = false; mixer_servos_armed = false;
atomic_modify_clear(&r_status_flags, (PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)); atomic_modify_clear(&r_status_flags, (PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED));
isr_debug(5, "> PWM disabled"); isr_debug(5, "> PWM disabled");