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linux_pwm_out: refactor to run on a work queue and use mixer_module

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This commit is contained in:
Beat Küng
2021-02-25 08:51:05 +01:00
committed by Daniel Agar
parent 439fb00aed
commit f0cc8a344b
12 changed files with 359 additions and 447 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
Tools/uorb_graph/create.py
View File

@@ -225,7 +225,6 @@ class Graph(object):
('tap_esc', r'.*', r'\b_control_topics\[[0-9]\]=([^,)]+)', r'^_control_topics\[i\]$'),
('snapdragon_pwm_out', r'.*', r'\b_controls_topics\[[0-9]\]=([^,)]+)', r'^_controls_topics\[i\]$'),
('linux_pwm_out', r'.*', r'\b_controls_topics\[[0-9]\]=([^,)]+)', r'^_controls_topics\[i\]$'),
]
special_cases_sub = [(a, re.compile(b), re.compile(c) if c is not None else None, re.compile(d))
for a,b,c,d in special_cases_sub]

1
boards/aerotenna/ocpoc/default.cmake
View File

@@ -73,6 +73,7 @@ px4_add_board(
led_control
mixer
motor_ramp
motor_test
param
perf
pwm

1
boards/beaglebone/blue/default.cmake
View File

@@ -69,6 +69,7 @@ px4_add_board(
led_control
mixer
motor_ramp
motor_test
param
perf
pwm

1
boards/emlid/navio2/default.cmake
View File

@@ -69,6 +69,7 @@ px4_add_board(
led_control
mixer
motor_ramp
motor_test
param
perf
pwm

5
posix-configs/bbblue/px4.config
View File

@@ -82,9 +82,8 @@ sleep 1
# RC port is mapped to /dev/ttyS4 (auto-detected)
#rc_input start -d /dev/ttyS4
# default: etc/mixers/quad_x.main.mix, 8 output channels
linux_pwm_out start -m etc/mixers/quad_x.main.mix
#linux_pwm_out start -m etc/mixers/AETRFG.main.mix
linux_pwm_out start
mixer load /dev/pwm_out etc/mixers/quad_x.main.mix
logger start -t -b 200

5
posix-configs/bbblue/px4_fw.config
View File

@@ -77,9 +77,8 @@ sleep 1
# RC port is mapped to /dev/ttyS4 (auto-detected)
rc_input start -d /dev/ttyS4
# default: etc/mixers/quad_x.main.mix, 8 output channels
#linux_pwm_out start -m etc/mixers/quad_x.main.mix
linux_pwm_out start -m etc/mixers/AETRFG.main.mix
linux_pwm_out start
mixer load /dev/pwm_out etc/mixers/AETRFG.main.mix
logger start -t -b 200

3
posix-configs/ocpoc/px4.config
View File

@@ -45,6 +45,7 @@ mavlink stream -d /dev/ttyPS1 -s ATTITUDE -r 50
rc_input start -d /dev/ttyS2
linux_pwm_out start -m etc/mixers/quad_x.main.mix
linux_pwm_out start
mixer load /dev/pwm_out etc/mixers/quad_x.main.mix
logger start -t -b 200
mavlink boot_complete

1
posix-configs/rpi/px4.config
View File

@@ -60,6 +60,7 @@ fi
navio_sysfs_rc_in start
linux_pwm_out start
mixer load /dev/pwm_out etc/mixers/quad_x.main.mix
logger start -t -b 200

3
posix-configs/rpi/px4_fw.config
View File

@@ -57,7 +57,8 @@ then
fi
navio_sysfs_rc_in start
linux_pwm_out start -m etc/mixers/AETRFG.main.mix
linux_pwm_out start
mixer load /dev/pwm_out etc/mixers/AETRFG.main.mix
logger start -t -b 200

1
posix-configs/rpi/px4_test.config
View File

@@ -59,6 +59,7 @@ fi
navio_sysfs_rc_in start
linux_pwm_out start
mixer load /dev/pwm_out etc/mixers/quad_x.main.mix
logger start -t -f -b 200

728
src/drivers/linux_pwm_out/linux_pwm_out.cpp
View File

@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2015-2017 PX4 Development Team. All rights reserved.
* Copyright (c) 2021 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
@@ -31,530 +31,340 @@
*
****************************************************************************/
#include <errno.h>
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/posix.h>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/parameter_update.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
#include <lib/mixer/MixerGroup.hpp>
#include <lib/mixer/mixer_load.h>
#include <parameters/param.h>
#include <output_limit/output_limit.h>
#include <perf/perf_counter.h>
#include "linux_pwm_out.hpp"
#include <board_pwm_out.h>
#include <drivers/drv_hrt.h>
using namespace time_literals;
using namespace pwm_out;
namespace pwm_out
LinuxPWMOut::LinuxPWMOut() :
CDev("/dev/pwm_out"),
OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default),
_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": interval"))
{
static px4_task_t _task_handle = -1;
volatile bool _task_should_exit = false;
static bool _is_running = false;
_mixing_output.setAllMinValues(PWM_DEFAULT_MIN);
_mixing_output.setAllMaxValues(PWM_DEFAULT_MAX);
}
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";
// subscriptions
int _controls_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
int _armed_sub = -1;
// publications
orb_advert_t _outputs_pub = nullptr;
orb_advert_t _rc_pub = nullptr;
perf_counter_t _perf_control_latency = nullptr;
// topic structures
actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
orb_id_t _controls_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
actuator_outputs_s _outputs;
actuator_armed_s _armed;
// polling
uint8_t _poll_fds_num = 0;
px4_pollfd_struct_t _poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
// control groups related
uint32_t _groups_required = 0;
uint32_t _groups_subscribed = 0;
output_limit_t _pwm_limit;
// esc parameters
int32_t _pwm_disarmed;
int32_t _pwm_min;
int32_t _pwm_max;
MixerGroup *_mixer_group = nullptr;
static void usage();
static void start();
static void stop();
static int task_main_trampoline(int argc, char *argv[]);
static void subscribe();
static void task_main(int argc, char *argv[]);
static void update_params(Mixer::Airmode &airmode);
/* mixer initialization */
int initialize_mixer(const char *mixer_filename);
int mixer_control_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input);
int mixer_control_callback(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &input)
LinuxPWMOut::~LinuxPWMOut()
{
const actuator_controls_s *controls = (actuator_controls_s *)handle;
input = controls[control_group].control[control_index];
/* clean up the alternate device node */
unregister_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH, _class_instance);
return 0;
perf_free(_cycle_perf);
perf_free(_interval_perf);
delete _pwm_out;
}
void update_params(Mixer::Airmode &airmode)
int LinuxPWMOut::init()
{
// multicopter air-mode
param_t param_handle = param_find("MC_AIRMODE");
/* do regular cdev init */
int ret = CDev::init();
if (param_handle != PARAM_INVALID) {
param_get(param_handle, (int32_t *)&airmode);
}
if (ret != OK) {
return ret;
}
/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
_class_instance = register_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH);
int initialize_mixer(const char *mixer_filename)
{
char buf[4096];
unsigned buflen = sizeof(buf);
memset(buf, '\0', buflen);
_mixing_output.setDriverInstance(_class_instance);
_mixer_group = new MixerGroup();
_pwm_out = new BOARD_PWM_OUT_IMPL(MAX_ACTUATORS);
// PX4_INFO("Trying to initialize mixer from config file %s", mixer_filename);
ret = _pwm_out->init();
if (load_mixer_file(mixer_filename, buf, buflen) == 0) {
if (_mixer_group->load_from_buf(mixer_control_callback, (uintptr_t) &_controls, buf, buflen) == 0) {
PX4_INFO("Loaded mixer from file %s", mixer_filename);
return 0;
} else {
PX4_ERR("Unable to parse from mixer config file %s", mixer_filename);
}
} else {
PX4_ERR("Unable to load config file %s", mixer_filename);
}
if (_mixer_group->count() <= 0) {
PX4_ERR("Mixer initialization failed");
return -1;
}
return 0;
}
void subscribe()
{
memset(_controls, 0, sizeof(_controls));
memset(_poll_fds, 0, sizeof(_poll_fds));
/* set up ORB topic names */
_controls_topics[0] = ORB_ID(actuator_controls_0);
_controls_topics[1] = ORB_ID(actuator_controls_1);
_controls_topics[2] = ORB_ID(actuator_controls_2);
_controls_topics[3] = ORB_ID(actuator_controls_3);
// Subscribe for orb topics
for (uint8_t i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_groups_required & (1 << i)) {
PX4_DEBUG("subscribe to actuator_controls_%d", i);
_controls_subs[i] = orb_subscribe(_controls_topics[i]);
} else {
_controls_subs[i] = -1;
}
if (_controls_subs[i] >= 0) {
_poll_fds[_poll_fds_num].fd = _controls_subs[i];
_poll_fds[_poll_fds_num].events = POLLIN;
_poll_fds_num++;
}
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
}
}
void task_main(int argc, char *argv[])
{
_is_running = true;
_perf_control_latency = perf_alloc(PC_ELAPSED, "linux_pwm_out control latency");
// Set up mixer
if (initialize_mixer(_mixer_filename) < 0) {
PX4_ERR("Mixer initialization failed.");
return;
}
PWMOutBase *pwm_out = new BOARD_PWM_OUT_IMPL(_max_num_outputs);
if (pwm_out->init() != 0) {
if (ret != 0) {
PX4_ERR("PWM output init failed");
delete pwm_out;
delete _pwm_out;
_pwm_out = nullptr;
return ret;
}
update_params();
ScheduleNow();
return ret;
}
int LinuxPWMOut::task_spawn(int argc, char *argv[])
{
LinuxPWMOut *instance = new LinuxPWMOut();
if (instance) {
_object.store(instance);
_task_id = task_id_is_work_queue;
if (instance->init() == PX4_OK) {
return PX4_OK;
}
} else {
PX4_ERR("alloc failed");
}
delete instance;
_object.store(nullptr);
_task_id = -1;
return PX4_ERROR;
}
bool LinuxPWMOut::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated)
{
_pwm_out->send_output_pwm(outputs, num_outputs);
return true;
}
void LinuxPWMOut::Run()
{
if (should_exit()) {
ScheduleClear();
_mixing_output.unregister();
exit_and_cleanup();
return;
}
_mixer_group->groups_required(_groups_required);
perf_begin(_cycle_perf);
perf_count(_interval_perf);
// subscribe and set up polling
subscribe();
Mixer::Airmode airmode = Mixer::Airmode::disabled;
update_params(airmode);
uORB::SubscriptionInterval parameter_update_sub{ORB_ID(parameter_update), 1_s};
int rc_channels_sub = -1;
// Start disarmed
_armed.armed = false;
_armed.prearmed = false;
output_limit_init(&_pwm_limit);
while (!_task_should_exit) {
bool updated;
orb_check(_armed_sub, &updated);
if (updated) {
orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
}
if (_mixer_group) {
_mixer_group->set_airmode(airmode);
}
int pret = px4_poll(_poll_fds, _poll_fds_num, 10);
/* Timed out, do a periodic check for _task_should_exit. */
if (pret == 0 && !_armed.in_esc_calibration_mode) {
continue;
}
/* This is undesirable but not much we can do. */
if (pret < 0) {
PX4_WARN("poll error %d, %d", pret, errno);
/* sleep a bit before next try */
usleep(10000);
continue;
}
/* 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 &timestamp_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;
_mixing_output.updateSubscriptions(false);
for (uint8_t i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_controls_subs[i] >= 0) {
orb_unsubscribe(_controls_subs[i]);
}
perf_end(_cycle_perf);
}
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;
}
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) {
_mixing_output.disarmedValue(i) = math::constrain(pwm_dis, 0, PWM_HIGHEST_MAX);
if (pwm_dis != _mixing_output.disarmedValue(i)) {
int32_t pwm_dis_new = _mixing_output.disarmedValue(i);
param_set(param_find(str), &pwm_dis_new);
}
} else {
_mixing_output.disarmedValue(i) = pwm_disarmed_default;
}
}
// PWM_MAIN_REVx
{
sprintf(str, "%s_REV%u", prefix, i + 1);
int32_t pwm_rev = 0;
if (param_get(param_find(str), &pwm_rev) == PX4_OK) {
uint16_t &reverse_pwm_mask = _mixing_output.reverseOutputMask();
if (pwm_rev >= 1) {
reverse_pwm_mask = reverse_pwm_mask | (2 << i);
} else {
reverse_pwm_mask = reverse_pwm_mask & ~(2 << i);
}
}
}
}
if (_mixing_output.mixers()) {
int16_t values[MAX_ACTUATORS] {};
for (unsigned i = 0; i < MAX_ACTUATORS; i++) {
sprintf(str, "%s_TRIM%u", prefix, i + 1);
float pval = 0.0f;
param_get(param_find(str), &pval);
values[i] = roundf(10000 * pval);
}
// 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);
}

98
src/drivers/linux_pwm_out/linux_pwm_out.hpp Normal file
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@@ -0,0 +1,98 @@
/****************************************************************************
*
* Copyright (c) 2021 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 <drivers/device/device.h>
#include <drivers/drv_mixer.h>
#include <lib/cdev/CDev.hpp>
#include <lib/mathlib/mathlib.h>
#include <lib/mixer_module/mixer_module.hpp>
#include <lib/parameters/param.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/parameter_update.h>
#include <px4_platform/pwm_out_base.h>
using namespace time_literals;
class LinuxPWMOut : public cdev::CDev, public ModuleBase<LinuxPWMOut>, public OutputModuleInterface
{
public:
LinuxPWMOut();
virtual ~LinuxPWMOut();
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
void Run() override;
/** @see ModuleBase::print_status() */
int print_status() override;
int ioctl(device::file_t *filp, int cmd, unsigned long arg) override;
int init() override;
bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated) override;
private:
static constexpr int MAX_ACTUATORS = 8;
void update_params();
MixingOutput _mixing_output{MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
int _class_instance{-1};
pwm_out::PWMOutBase *_pwm_out{nullptr};
perf_counter_t _cycle_perf;
perf_counter_t _interval_perf;
};