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linux_pwm_out: move protocols to board-specific directories

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

1
boards/aerotenna/ocpoc/src/CMakeLists.txt
View File

@@ -32,6 +32,7 @@
############################################################################ ############################################################################
add_library(drivers_board add_library(drivers_board
board_pwm_out.cpp
i2c.cpp i2c.cpp
spi.cpp spi.cpp
) )

8
src/drivers/linux_pwm_out/ocpoc_mmap.cpp → boards/aerotenna/ocpoc/src/board_pwm_out.cpp
View File

@@ -31,7 +31,11 @@
* *
****************************************************************************/ ****************************************************************************/
#include "ocpoc_mmap.h" #ifndef MODULE_NAME
#define MODULE_NAME "ocpoc_pwm_out"
#endif
#include "board_pwm_out.h"
#include <px4_platform_common/log.h> #include <px4_platform_common/log.h>
@@ -39,7 +43,7 @@
#include <sys/mman.h> #include <sys/mman.h>
#include <unistd.h> #include <unistd.h>
using namespace linux_pwm_out; using namespace pwm_out;
#define RCOUT_ZYNQ_PWM_BASE 0x43c00000 #define RCOUT_ZYNQ_PWM_BASE 0x43c00000
static const int TICK_PER_US = 50; static const int TICK_PER_US = 50;

6
src/drivers/linux_pwm_out/ocpoc_mmap.h → boards/aerotenna/ocpoc/src/board_pwm_out.h
View File

@@ -33,9 +33,11 @@
#pragma once #pragma once
#include "common.h" #include <px4_platform/pwm_out_base.h>
namespace linux_pwm_out #define BOARD_PWM_OUT_IMPL OcpocMmapPWMOut
namespace pwm_out
{ {
/** /**

1
boards/beaglebone/blue/src/CMakeLists.txt
View File

@@ -32,6 +32,7 @@
############################################################################ ############################################################################
px4_add_library(drivers_board px4_add_library(drivers_board
board_pwm_out.cpp
i2c.cpp i2c.cpp
init.cpp init.cpp
spi.cpp spi.cpp

10
src/drivers/linux_pwm_out/bbblue_pwm_rc.cpp → boards/beaglebone/blue/src/board_pwm_out.cpp
View File

@@ -30,7 +30,10 @@
* POSSIBILITY OF SUCH DAMAGE. * POSSIBILITY OF SUCH DAMAGE.
* *
****************************************************************************/ ****************************************************************************/
#ifdef CONFIG_ARCH_BOARD_BEAGLEBONE_BLUE
#ifndef MODULE_NAME
#define MODULE_NAME "bbblue_pwm_out"
#endif
#include <fcntl.h> #include <fcntl.h>
#include <errno.h> #include <errno.h>
@@ -39,9 +42,9 @@
#include <robotcontrol.h> #include <robotcontrol.h>
#include <board_config.h> #include <board_config.h>
#include "bbblue_pwm_rc.h" #include "board_pwm_out.h"
using namespace linux_pwm_out; using namespace pwm_out;
BBBlueRcPWMOut::BBBlueRcPWMOut(int max_num_outputs) : _num_outputs(max_num_outputs) BBBlueRcPWMOut::BBBlueRcPWMOut(int max_num_outputs) : _num_outputs(max_num_outputs)
{ {
@@ -79,4 +82,3 @@ int BBBlueRcPWMOut::send_output_pwm(const uint16_t *pwm, int num_outputs)
return ret; return ret;
} }
#endif // CONFIG_ARCH_BOARD_BEAGLEBONE_BLUE

6
src/drivers/linux_pwm_out/bbblue_pwm_rc.h → boards/beaglebone/blue/src/board_pwm_out.h
View File

@@ -33,9 +33,11 @@
#pragma once #pragma once
#include "common.h" #include <px4_platform/pwm_out_base.h>
namespace linux_pwm_out #define BOARD_PWM_OUT_IMPL BBBlueRcPWMOut
namespace pwm_out
{ {
/** /**

1
boards/emlid/navio2/src/CMakeLists.txt
View File

@@ -32,6 +32,7 @@
############################################################################ ############################################################################
add_library(drivers_board add_library(drivers_board
board_pwm_out.cpp
i2c.cpp i2c.cpp
spi.cpp spi.cpp
) )

12
src/drivers/linux_pwm_out/navio_sysfs.cpp → boards/emlid/navio2/src/board_pwm_out.cpp
View File

@@ -30,18 +30,22 @@
* POSSIBILITY OF SUCH DAMAGE. * POSSIBILITY OF SUCH DAMAGE.
* *
****************************************************************************/ ****************************************************************************/
#ifndef MODULE_NAME
#define MODULE_NAME "navio_sysfs_pwm_out"
#endif
#include "navio_sysfs.h" #include "board_pwm_out.h"
#include <fcntl.h> #include <fcntl.h>
#include <errno.h> #include <errno.h>
#include <unistd.h> #include <unistd.h>
#include <px4_platform_common/log.h> #include <px4_platform_common/log.h>
using namespace linux_pwm_out; using namespace pwm_out;
NavioSysfsPWMOut::NavioSysfsPWMOut(const char *device, int max_num_outputs) const char NavioSysfsPWMOut::_device[] = "/sys/class/pwm/pwmchip0";
: _device(device)
NavioSysfsPWMOut::NavioSysfsPWMOut(int max_num_outputs)
{ {
if (max_num_outputs > MAX_NUM_PWM) { if (max_num_outputs > MAX_NUM_PWM) {
PX4_WARN("number of outputs too large. Setting to %i", MAX_NUM_PWM); PX4_WARN("number of outputs too large. Setting to %i", MAX_NUM_PWM);

10
src/drivers/linux_pwm_out/navio_sysfs.h → boards/emlid/navio2/src/board_pwm_out.h
View File

@@ -33,9 +33,11 @@
#pragma once #pragma once
#include "common.h" #include <px4_platform/pwm_out_base.h>
namespace linux_pwm_out #define BOARD_PWM_OUT_IMPL NavioSysfsPWMOut
namespace pwm_out
{ {
/** /**
@@ -45,7 +47,7 @@ namespace linux_pwm_out
class NavioSysfsPWMOut : public PWMOutBase class NavioSysfsPWMOut : public PWMOutBase
{ {
public: public:
NavioSysfsPWMOut(const char *device, int max_num_outputs); NavioSysfsPWMOut(int max_num_outputs);
virtual ~NavioSysfsPWMOut(); virtual ~NavioSysfsPWMOut();
int init() override; int init() override;
@@ -61,7 +63,7 @@ private:
int _pwm_fd[MAX_NUM_PWM]; int _pwm_fd[MAX_NUM_PWM];
int _pwm_num; int _pwm_num;
const char *_device; static const char _device[];
}; };
} }

1
boards/px4/raspberrypi/default.cmake
View File

@@ -23,7 +23,6 @@ px4_add_board(
gps gps
#imu # all available imu drivers #imu # all available imu drivers
imu/invensense/mpu9250 imu/invensense/mpu9250
linux_pwm_out
#magnetometer # all available magnetometer drivers #magnetometer # all available magnetometer drivers
magnetometer/hmc5883 magnetometer/hmc5883
pca9685_pwm_out pca9685_pwm_out

4
src/drivers/linux_pwm_out/common.h → platforms/posix/src/px4/common/include/px4_platform/pwm_out_base.h
View File

@@ -35,7 +35,7 @@
#include <stdint.h> #include <stdint.h>
namespace linux_pwm_out namespace pwm_out
{ {
/** /**
@@ -54,4 +54,4 @@ public:
}; };
} /* namespace rpi_pwm_out */ } /* namespace pwm_out */

4
posix-configs/bbblue/px4.config
View File

@@ -83,8 +83,8 @@ sleep 1
#rc_input start -d /dev/ttyS4 #rc_input start -d /dev/ttyS4
# default: etc/mixers/quad_x.main.mix, 8 output channels # default: etc/mixers/quad_x.main.mix, 8 output channels
linux_pwm_out start -p bbblue_rc -m etc/mixers/quad_x.main.mix linux_pwm_out start -m etc/mixers/quad_x.main.mix
#linux_pwm_out start -p bbblue_rc -m etc/mixers/AETRFG.main.mix #linux_pwm_out start -m etc/mixers/AETRFG.main.mix
logger start -t -b 200 logger start -t -b 200

4
posix-configs/bbblue/px4_fw.config
View File

@@ -78,8 +78,8 @@ sleep 1
rc_input start -d /dev/ttyS4 rc_input start -d /dev/ttyS4
# default: etc/mixers/quad_x.main.mix, 8 output channels # default: etc/mixers/quad_x.main.mix, 8 output channels
#linux_pwm_out start -p bbblue_rc -m etc/mixers/quad_x.main.mix #linux_pwm_out start -m etc/mixers/quad_x.main.mix
linux_pwm_out start -p bbblue_rc -m etc/mixers/AETRFG.main.mix linux_pwm_out start -m etc/mixers/AETRFG.main.mix
logger start -t -b 200 logger start -t -b 200

2
posix-configs/ocpoc/px4.config
View File

@@ -45,6 +45,6 @@ mavlink stream -d /dev/ttyPS1 -s ATTITUDE -r 50
rc_input start -d /dev/ttyS2 rc_input start -d /dev/ttyS2
linux_pwm_out start -p ocpoc_mmap -m etc/mixers/quad_x.main.mix linux_pwm_out start -m etc/mixers/quad_x.main.mix
logger start -t -b 200 logger start -t -b 200
mavlink boot_complete mavlink boot_complete

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

@@ -36,11 +36,7 @@ px4_add_module(
MAIN linux_pwm_out MAIN linux_pwm_out
COMPILE_FLAGS COMPILE_FLAGS
SRCS SRCS
PCA9685.cpp
navio_sysfs.cpp
linux_pwm_out.cpp linux_pwm_out.cpp
ocpoc_mmap.cpp
bbblue_pwm_rc.cpp
DEPENDS DEPENDS
output_limit output_limit
) )

193
src/drivers/linux_pwm_out/PCA9685.cpp
View File

@@ -1,193 +0,0 @@
/****************************************************************************
*
* 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.
*
*
* Original Author : Georgi Todorov
* Edited by : Tord Wessman
* Created on : Nov 22, 2013
* Rewrite : Fan.zhang 421395590@qq.com
* Updated on : Mar 2, 2017
****************************************************************************/
#include <sys/stat.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <linux/i2c-dev.h>
#include <stdio.h> /* Standard I/O functions */
#include <fcntl.h>
#include <inttypes.h>
#include <errno.h>
#include <math.h>
#include <stdio.h>
#include <unistd.h>
#include "PCA9685.h"
#include <px4_platform_common/log.h>
using namespace linux_pwm_out;
int PCA9685::init(int bus, int address)
{
_fd = open_fd(bus, address);
reset();
usleep(1000 * 100);
/* 12BIT 精度输出下，好赢电调可以到200HZ刷新 */
/* 200HZ for 12bit Resolution, supported by most of the esc's */
setPWMFreq(200);
usleep(1000 * 1000);
return 0;
}
int PCA9685::send_output_pwm(const uint16_t *pwm, int num_outputs)
{
if (num_outputs > 16) {
num_outputs = 16;
}
for (int i = 0; i < num_outputs; ++i) {
setPWM(i, pwm[i]);
}
return 0;
}
PCA9685::PCA9685()
{
init(PCA9685_DEFAULT_I2C_BUS, PCA9685_DEFAULT_I2C_ADDR);
}
PCA9685::PCA9685(int bus, int address)
{
init(bus, address);
}
PCA9685::~PCA9685()
{
reset();
if (_fd >= 0) {
close(_fd);
}
}
void PCA9685::reset()
{
if (_fd != -1) {
write_byte(_fd, MODE1, 0x00); //Normal mode
write_byte(_fd, MODE2, 0x04); //Normal mode
}
}
void PCA9685::setPWMFreq(int freq)
{
if (_fd != -1) {
uint8_t prescale = (CLOCK_FREQ / MAX_PWM_RES / freq) - 1;
//printf ("Setting prescale value to: %d\n", prescale);
//printf ("Using Frequency: %d\n", freq);
uint8_t oldmode = read_byte(_fd, MODE1);
uint8_t newmode = (oldmode & 0x7F) | 0x10; //sleep
write_byte(_fd, MODE1, newmode); // go to sleep
write_byte(_fd, PRE_SCALE, prescale);
write_byte(_fd, MODE1, oldmode);
usleep(10 * 1000);
write_byte(_fd, MODE1, oldmode | 0x80);
}
}
void PCA9685::setPWM(uint8_t led, int value)
{
setPWM(led, 0, value);
}
void PCA9685::setPWM(uint8_t led, int on_value, int off_value)
{
if (_fd != -1) {
write_byte(_fd, LED0_ON_L + LED_MULTIPLYER * led, on_value & 0xFF);
write_byte(_fd, LED0_ON_H + LED_MULTIPLYER * led, on_value >> 8);
write_byte(_fd, LED0_OFF_L + LED_MULTIPLYER * led, off_value & 0xFF);
write_byte(_fd, LED0_OFF_H + LED_MULTIPLYER * led, off_value >> 8);
}
}
uint8_t PCA9685::read_byte(int fd, uint8_t address)
{
uint8_t buf[1];
buf[0] = address;
if (write(fd, buf, 1) != 1) {
return -1;
}
if (read(fd, buf, 1) != 1) {
return -1;
}
return buf[0];
}
void PCA9685::write_byte(int fd, uint8_t address, uint8_t data)
{
uint8_t buf[2];
buf[0] = address;
buf[1] = data;
if (write(fd, buf, sizeof(buf)) != sizeof(buf)) {
PX4_ERR("Write failed (%i)", errno);
}
}
int PCA9685::open_fd(int bus, int address)
{
int fd;
char bus_file[64];
snprintf(bus_file, sizeof(bus_file), "/dev/i2c-%d", bus);
if ((fd = open(bus_file, O_RDWR)) < 0) {
PX4_ERR("Couldn't open I2C Bus %d [open_fd():open %d]", bus, errno);
return -1;
}
if (ioctl(fd, I2C_SLAVE, address) < 0) {
PX4_ERR("I2C slave %d failed [open_fd():ioctl %d]", address, errno);
return -1;
}
return fd;
}

143
src/drivers/linux_pwm_out/PCA9685.h
View File

@@ -1,143 +0,0 @@
/****************************************************************************
*
* 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.
*
*
* Original Author : Georgi Todorov
* Edited by : Tord Wessman
* Created on : Nov 22, 2013
* Rewrite : Fan.zhang 421395590@qq.com
* Updated on : Mar 2, 2017
****************************************************************************/
#pragma once
#include <inttypes.h>
#include "common.h"
namespace linux_pwm_out
{
// Register Definitions
// 寄存器定义
#define MODE1 0x00 //Mode register 1
#define MODE2 0x01 //Mode register 2
#define SUBADR1 0x02 //I2C-bus subaddress 1
#define SUBADR2 0x03 //I2C-bus subaddress 2
#define SUBADR3 0x04 //I2C-bus subaddress 3
#define ALLCALLADR 0x05 //LED All Call I2C-bus address
#define LED0 0x6 //LED0 start register
#define LED0_ON_L 0x6 //LED0 output and brightness control byte 0
#define LED0_ON_H 0x7 //LED0 output and brightness control byte 1
#define LED0_OFF_L 0x8 //LED0 output and brightness control byte 2
#define LED0_OFF_H 0x9 //LED0 output and brightness control byte 3
#define LED_MULTIPLYER 4 // For the other 15 channels
#define ALLLED_ON_L 0xFA //load all the LEDn_ON registers, byte 0 (turn 0-7 channels on)
#define ALLLED_ON_H 0xFB //load all the LEDn_ON registers, byte 1 (turn 8-15 channels on)
#define ALLLED_OFF_L 0xFC //load all the LEDn_OFF registers, byte 0 (turn 0-7 channels off)
#define ALLLED_OFF_H 0xFD //load all the LEDn_OFF registers, byte 1 (turn 8-15 channels off)
#define PRE_SCALE 0xFE //prescaler for output frequency
#define MAX_PWM_RES 4096 //Resolution 4096=12bit 分辨率，按2的阶乘计算，12bit为4096
#define CLOCK_FREQ 25000000.0 //25MHz default osc clock
#define PCA9685_DEFAULT_I2C_ADDR 0x40 // default i2c address for pca9685 默认i2c地址为0x40
#define PCA9685_DEFAULT_I2C_BUS 1 // default i2c bus for pca9685 默认为1
//! Main class that exports features for PCA9685 chip
class PCA9685 : public PWMOutBase
{
public:
PCA9685();
/**
* Constructor takes bus and address arguments
* @param bus the bus to use in /dev/i2c-%d.
* @param address the device address on bus
*/
PCA9685(int bus, int address);
int init() override { return _fd >= 0 ? 0 : -1; }
int send_output_pwm(const uint16_t *pwm, int num_outputs) override;
int init(int bus, int address);
virtual ~PCA9685();
/** Sets PCA9685 mode to 00 */
void reset();
/**
* Set the frequency of PWM
* @param freq desired frequency. 40Hz to 1000Hz using internal 25MHz oscillator.
*/
void setPWMFreq(int freq);
/**
* PWM a single channel with custom on time.
* send pwm vale to led(channel)
* @param channel
* @param on_value 0-4095 value to turn on the pulse
* @param off_value 0-4095 value to turn off the pulse
*/
void setPWM(uint8_t channel, int on_value, int off_value);
/**
* send pwm value to led(channel),
* value should be range of 0-4095
*/
void setPWM(uint8_t channel, int value);
private:
int _fd = -1; ///< I2C device file descriptor
/**
* Read a single byte from PCA9685
* @param fd file descriptor for I/O
* @param address register address to read from
* @return read byte
*/
uint8_t read_byte(int fd, uint8_t address);
/**
* Write a single byte to PCA9685
* @param fd file descriptor for I/O
* @param address register address to write to
* @param data 8 bit data to write
*/
void write_byte(int fd, uint8_t address, uint8_t data);
/**
* Open device file for PCA9685 I2C bus
* @return fd returns the file descriptor number or -1 on error
*/
int open_fd(int bus, int address);
};
}

75
src/drivers/linux_pwm_out/linux_pwm_out.cpp
View File

@@ -58,22 +58,16 @@
#include <output_limit/output_limit.h> #include <output_limit/output_limit.h>
#include <perf/perf_counter.h> #include <perf/perf_counter.h>
#include "common.h" #include <board_pwm_out.h>
#include "navio_sysfs.h"
#include "PCA9685.h"
#include "ocpoc_mmap.h"
#include "bbblue_pwm_rc.h"
using namespace time_literals; using namespace time_literals;
namespace linux_pwm_out namespace pwm_out
{ {
static px4_task_t _task_handle = -1; static px4_task_t _task_handle = -1;
volatile bool _task_should_exit = false; volatile bool _task_should_exit = false;
static bool _is_running = false; static bool _is_running = false;
static char _device[64] = "/sys/class/pwm/pwmchip0";
static char _protocol[64] = "navio";
static int _max_num_outputs = 8; ///< maximum number of outputs the driver should use static int _max_num_outputs = 8; ///< maximum number of outputs the driver should use
static char _mixer_filename[64] = "etc/mixers/quad_x.main.mix"; static char _mixer_filename[64] = "etc/mixers/quad_x.main.mix";
@@ -228,27 +222,7 @@ void task_main(int argc, char *argv[])
return; return;
} }
PWMOutBase *pwm_out; PWMOutBase *pwm_out = new BOARD_PWM_OUT_IMPL(_max_num_outputs);
if (strcmp(_protocol, "pca9685") == 0) {
PX4_INFO("Starting PWM output in PCA9685 mode");
pwm_out = new PCA9685();
} else if (strcmp(_protocol, "ocpoc_mmap") == 0) {
PX4_INFO("Starting PWM output in ocpoc_mmap mode");
pwm_out = new OcpocMmapPWMOut(_max_num_outputs);
#ifdef CONFIG_ARCH_BOARD_BEAGLEBONE_BLUE
} else if (strcmp(_protocol, "bbblue_rc") == 0) {
PX4_INFO("Starting PWM output in bbblue_rc mode");
pwm_out = new BBBlueRcPWMOut(_max_num_outputs);
#endif
} else { /* navio */
PX4_INFO("Starting PWM output in Navio mode");
pwm_out = new NavioSysfsPWMOut(_device, _max_num_outputs);
}
if (pwm_out->init() != 0) { if (pwm_out->init() != 0) {
PX4_ERR("PWM output init failed"); PX4_ERR("PWM output init failed");
@@ -494,20 +468,16 @@ void stop()
void usage() void usage()
{ {
PX4_INFO("usage: pwm_out start [-d pwmdevice] [-m mixerfile] [-p protocol]"); PX4_INFO("usage: linux_pwm_out start [-m mixerfile]");
PX4_INFO(" -d pwmdevice : sysfs device for pwm generation (only for Navio)");
PX4_INFO(" (default /sys/class/pwm/pwmchip0)");
PX4_INFO(" -m mixerfile : path to mixerfile"); PX4_INFO(" -m mixerfile : path to mixerfile");
PX4_INFO(" (default etc/mixers/quad_x.main.mix)"); PX4_INFO(" (default etc/mixers/quad_x.main.mix)");
PX4_INFO(" -p protocol : driver output protocol (navio|pca9685|ocpoc_mmap|bbblue_rc)");
PX4_INFO(" (default is navio)");
PX4_INFO(" -n num_outputs : maximum number of outputs the driver should use"); PX4_INFO(" -n num_outputs : maximum number of outputs the driver should use");
PX4_INFO(" (default is 8)"); PX4_INFO(" (default is 8)");
PX4_INFO(" pwm_out stop"); PX4_INFO(" linux_pwm_out stop");
PX4_INFO(" pwm_out status"); PX4_INFO(" linux_pwm_out status");
} }
} // namespace linux_pwm_out } // namespace pwm_out
/* driver 'main' command */ /* driver 'main' command */
extern "C" __EXPORT int linux_pwm_out_main(int argc, char *argv[]); extern "C" __EXPORT int linux_pwm_out_main(int argc, char *argv[]);
@@ -527,18 +497,11 @@ int linux_pwm_out_main(int argc, char *argv[])
return 1; return 1;
} }
while ((ch = px4_getopt(argc, argv, "d:m:p:n:", &myoptind, &myoptarg)) != EOF) { while ((ch = px4_getopt(argc, argv, "m:n:", &myoptind, &myoptarg)) != EOF) {
switch (ch) { switch (ch) {
case 'd':
strncpy(linux_pwm_out::_device, myoptarg, sizeof(linux_pwm_out::_device) - 1);
break;
case 'm': case 'm':
strncpy(linux_pwm_out::_mixer_filename, myoptarg, sizeof(linux_pwm_out::_mixer_filename) - 1); strncpy(pwm_out::_mixer_filename, myoptarg, sizeof(pwm_out::_mixer_filename) - 1);
break;
case 'p':
strncpy(linux_pwm_out::_protocol, myoptarg, sizeof(linux_pwm_out::_protocol) - 1);
break; break;
case 'n': { case 'n': {
@@ -552,44 +515,44 @@ int linux_pwm_out_main(int argc, char *argv[])
max_num = actuator_outputs_s::NUM_ACTUATOR_OUTPUTS; max_num = actuator_outputs_s::NUM_ACTUATOR_OUTPUTS;
} }
linux_pwm_out::_max_num_outputs = max_num; pwm_out::_max_num_outputs = max_num;
} }
break; break;
} }
} }
/** gets the parameters for the esc's pwm */ /** gets the parameters for the esc's pwm */
param_get(param_find("PWM_MAIN_DISARM"), &linux_pwm_out::_pwm_disarmed); param_get(param_find("PWM_MAIN_DISARM"), &pwm_out::_pwm_disarmed);
param_get(param_find("PWM_MAIN_MIN"), &linux_pwm_out::_pwm_min); param_get(param_find("PWM_MAIN_MIN"), &pwm_out::_pwm_min);
param_get(param_find("PWM_MAIN_MAX"), &linux_pwm_out::_pwm_max); param_get(param_find("PWM_MAIN_MAX"), &pwm_out::_pwm_max);
/* /*
* Start/load the driver. * Start/load the driver.
*/ */
if (!strcmp(verb, "start")) { if (!strcmp(verb, "start")) {
if (linux_pwm_out::_is_running) { if (pwm_out::_is_running) {
PX4_WARN("pwm_out already running"); PX4_WARN("pwm_out already running");
return 1; return 1;
} }
linux_pwm_out::start(); pwm_out::start();
} }
else if (!strcmp(verb, "stop")) { else if (!strcmp(verb, "stop")) {
if (!linux_pwm_out::_is_running) { if (!pwm_out::_is_running) {
PX4_WARN("pwm_out is not running"); PX4_WARN("pwm_out is not running");
return 1; return 1;
} }
linux_pwm_out::stop(); pwm_out::stop();
} }
else if (!strcmp(verb, "status")) { else if (!strcmp(verb, "status")) {
PX4_WARN("pwm_out is %s", linux_pwm_out::_is_running ? "running" : "not running"); PX4_WARN("pwm_out is %s", pwm_out::_is_running ? "running" : "not running");
return 0; return 0;
} else { } else {
linux_pwm_out::usage(); pwm_out::usage();
return 1; return 1;
} }