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linux_pwm_out: move protocols to board-specific directories

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This also removes the pca9685 output, which was unused, and there's also
pca9685_pwm_out.
This commit is contained in:
Beat Küng
2021-02-25 07:28:04 +01:00
committed by Daniel Agar
parent b0a5d431d3
commit 439fb00aed
18 changed files with 63 additions and 422 deletions
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1
boards/emlid/navio2/src/CMakeLists.txt
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@@ -32,6 +32,7 @@
############################################################################
add_library(drivers_board
board_pwm_out.cpp
i2c.cpp
spi.cpp
)

156
boards/emlid/navio2/src/board_pwm_out.cpp Normal file
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@@ -0,0 +1,156 @@
/****************************************************************************
*
* Copyright (c) 2017 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.
*
****************************************************************************/
#ifndef MODULE_NAME
#define MODULE_NAME "navio_sysfs_pwm_out"
#endif
#include "board_pwm_out.h"
#include <fcntl.h>
#include <errno.h>
#include <unistd.h>
#include <px4_platform_common/log.h>
using namespace pwm_out;
const char NavioSysfsPWMOut::_device[] = "/sys/class/pwm/pwmchip0";
NavioSysfsPWMOut::NavioSysfsPWMOut(int max_num_outputs)
{
if (max_num_outputs > MAX_NUM_PWM) {
PX4_WARN("number of outputs too large. Setting to %i", MAX_NUM_PWM);
max_num_outputs = MAX_NUM_PWM;
}
for (int i = 0; i < MAX_NUM_PWM; ++i) {
_pwm_fd[i] = -1;
}
_pwm_num = max_num_outputs;
}
NavioSysfsPWMOut::~NavioSysfsPWMOut()
{
for (int i = 0; i < MAX_NUM_PWM; ++i) {
if (_pwm_fd[i] != -1) {
::close(_pwm_fd[i]);
}
}
}
int NavioSysfsPWMOut::init()
{
int i;
char path[128];
for (i = 0; i < _pwm_num; ++i) {
::snprintf(path, sizeof(path), "%s/export", _device);
if (pwm_write_sysfs(path, i) < 0) {
PX4_ERR("PWM export failed");
}
}
for (i = 0; i < _pwm_num; ++i) {
::snprintf(path, sizeof(path), "%s/pwm%u/enable", _device, i);
if (pwm_write_sysfs(path, 1) < 0) {
PX4_ERR("PWM enable failed");
}
}
for (i = 0; i < _pwm_num; ++i) {
::snprintf(path, sizeof(path), "%s/pwm%u/period", _device, i);
if (pwm_write_sysfs(path, (int)1e9 / FREQUENCY_PWM)) {
PX4_ERR("PWM period failed");
}
}
for (i = 0; i < _pwm_num; ++i) {
::snprintf(path, sizeof(path), "%s/pwm%u/duty_cycle", _device, i);
_pwm_fd[i] = ::open(path, O_WRONLY | O_CLOEXEC);
if (_pwm_fd[i] == -1) {
PX4_ERR("PWM: Failed to open duty_cycle.");
return -errno;
}
}
return 0;
}
int NavioSysfsPWMOut::send_output_pwm(const uint16_t *pwm, int num_outputs)
{
char data[16];
if (num_outputs > _pwm_num) {
num_outputs = _pwm_num;
}
int ret = 0;
//convert this to duty_cycle in ns
for (int i = 0; i < num_outputs; ++i) {
int n = ::snprintf(data, sizeof(data), "%u", pwm[i] * 1000);
int write_ret = ::write(_pwm_fd[i], data, n);
if (n != write_ret) {
ret = -1;
}
}
return ret;
}
int NavioSysfsPWMOut::pwm_write_sysfs(char *path, int value)
{
int fd = ::open(path, O_WRONLY | O_CLOEXEC);
int n;
char data[16];
if (fd == -1) {
return -errno;
}
n = ::snprintf(data, sizeof(data), "%u", value);
if (n > 0) {
n = ::write(fd, data, n); // This n is not used, but to avoid a compiler error.
}
::close(fd);
return 0;
}

69
boards/emlid/navio2/src/board_pwm_out.h Normal file
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@@ -0,0 +1,69 @@
/****************************************************************************
*
* Copyright (c) 2017 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 <px4_platform/pwm_out_base.h>
#define BOARD_PWM_OUT_IMPL NavioSysfsPWMOut
namespace pwm_out
{
/**
** class NavioSysfsPWMOut
* PWM output class for Navio Sysfs
*/
class NavioSysfsPWMOut : public PWMOutBase
{
public:
NavioSysfsPWMOut(int max_num_outputs);
virtual ~NavioSysfsPWMOut();
int init() override;
int send_output_pwm(const uint16_t *pwm, int num_outputs) override;
private:
int pwm_write_sysfs(char *path, int value);
static const int MAX_NUM_PWM = 14;
static const int FREQUENCY_PWM = 400;
int _pwm_fd[MAX_NUM_PWM];
int _pwm_num;
static const char _device[];
};
}