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drivers/pwm_out: cleanup for multi-platform use

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This commit is contained in:
Daniel Agar
2020-05-01 20:53:35 -04:00
parent 0a4e7142ee
commit 0c8dcf94bc
5 changed files with 113 additions and 115 deletions
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src/drivers/pwm_out/PWMOut.cpp
+81 -88
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@@ -379,11 +379,6 @@ int PWMOut::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_
return OK;
}
int PWMOut::set_i2c_bus_clock(unsigned bus, unsigned clock_hz)
{
return device::I2C::set_bus_clock(bus, clock_hz);
}
void PWMOut::update_current_rate()
{
/*
@@ -505,6 +500,7 @@ int PWMOut::task_spawn(int argc, char *argv[])
return PX4_ERROR;
}
#if defined(BOARD_HAS_CAPTURE)
void PWMOut::capture_trampoline(void *context, uint32_t chan_index,
hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow)
{
@@ -515,8 +511,10 @@ void PWMOut::capture_trampoline(void *context, uint32_t chan_index,
void PWMOut::capture_callback(uint32_t chan_index,
hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow)
{
fprintf(stdout, "FMU: Capture chan:%d time:%lld state:%d overflow:%d\n", chan_index, edge_time, edge_state, overflow);
fprintf(stdout, "PWMOut: Capture chan:%d time:%lld state:%d overflow:%d\n", chan_index, edge_time, edge_state,
overflow);
}
#endif // BOARD_HAS_CAPTURE
void PWMOut::update_pwm_out_state(bool on)
{
@@ -603,10 +601,11 @@ void PWMOut::update_params()
updateParams();
}
int PWMOut::ioctl(file *filp, int cmd, unsigned long arg)
int PWMOut::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
{
int ret;
int ret = -ENOTTY;
#if defined(BOARD_HAS_CAPTURE)
/* try it as a Capture ioctl next */
ret = capture_ioctl(filp, cmd, arg);
@@ -614,6 +613,8 @@ int PWMOut::ioctl(file *filp, int cmd, unsigned long arg)
return ret;
}
#endif // BOARD_HAS_CAPTURE
/* if we are in valid PWM mode, try it as a PWM ioctl as well */
switch (_mode) {
case MODE_1PWM:
@@ -621,11 +622,14 @@ int PWMOut::ioctl(file *filp, int cmd, unsigned long arg)
case MODE_3PWM:
case MODE_4PWM:
case MODE_5PWM:
#if defined(BOARD_HAS_CAPTURE)
case MODE_2PWM2CAP:
case MODE_3PWM1CAP:
case MODE_4PWM1CAP:
case MODE_4PWM2CAP:
case MODE_5PWM1CAP:
#endif // BOARD_HAS_CAPTURE
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
case MODE_6PWM:
#endif
@@ -651,7 +655,7 @@ int PWMOut::ioctl(file *filp, int cmd, unsigned long arg)
return ret;
}
int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
int PWMOut::pwm_ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
{
int ret = OK;
@@ -927,6 +931,8 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
case PWM_SERVO_SET(11):
case PWM_SERVO_SET(10):
case PWM_SERVO_SET(9):
// FALLTHROUGH
case PWM_SERVO_SET(8):
if (_mode < MODE_14PWM) {
ret = -EINVAL;
@@ -936,9 +942,10 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
// FALLTHROUGH
case PWM_SERVO_SET(7):
/* FALLTHROUGH */
// FALLTHROUGH
case PWM_SERVO_SET(6):
if (_mode < MODE_8PWM) {
ret = -EINVAL;
@@ -949,7 +956,7 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
/* FALLTHROUGH */
// FALLTHROUGH
case PWM_SERVO_SET(5):
if (_mode < MODE_6PWM) {
ret = -EINVAL;
@@ -959,7 +966,7 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 5
/* FALLTHROUGH */
// FALLTHROUGH
case PWM_SERVO_SET(4):
if (_mode < MODE_5PWM) {
ret = -EINVAL;
@@ -968,21 +975,21 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
#endif
/* FALLTHROUGH */
// FALLTHROUGH
case PWM_SERVO_SET(3):
if (_mode < MODE_4PWM) {
ret = -EINVAL;
break;
}
/* FALLTHROUGH */
// FALLTHROUGH
case PWM_SERVO_SET(2):
if (_mode < MODE_3PWM) {
ret = -EINVAL;
break;
}
/* FALLTHROUGH */
// FALLTHROUGH
case PWM_SERVO_SET(1):
case PWM_SERVO_SET(0):
if (arg <= 2100) {
@@ -1008,9 +1015,10 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
}
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
/* FALLTHROUGH */
// FALLTHROUGH
case PWM_SERVO_GET(7):
case PWM_SERVO_GET(6):
if (_mode < MODE_8PWM) {
@@ -1022,7 +1030,7 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
/* FALLTHROUGH */
// FALLTHROUGH
case PWM_SERVO_GET(5):
if (_mode < MODE_6PWM) {
ret = -EINVAL;
@@ -1030,9 +1038,10 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
}
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 5
/* FALLTHROUGH */
// FALLTHROUGH
case PWM_SERVO_GET(4):
if (_mode < MODE_5PWM) {
ret = -EINVAL;
@@ -1041,21 +1050,21 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
#endif
/* FALLTHROUGH */
// FALLTHROUGH
case PWM_SERVO_GET(3):
if (_mode < MODE_4PWM) {
ret = -EINVAL;
break;
}
/* FALLTHROUGH */
// FALLTHROUGH
case PWM_SERVO_GET(2):
if (_mode < MODE_3PWM) {
ret = -EINVAL;
break;
}
/* FALLTHROUGH */
// FALLTHROUGH
case PWM_SERVO_GET(1):
case PWM_SERVO_GET(0):
*(servo_position_t *)arg = up_pwm_servo_get(cmd - PWM_SERVO_GET(0));
@@ -1300,29 +1309,10 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
return ret;
}
void PWMOut::sensor_reset(int ms)
{
if (ms < 1) {
ms = 1;
}
board_spi_reset(ms, 0xffff);
}
void PWMOut::peripheral_reset(int ms)
{
if (ms < 1) {
ms = 10;
}
board_peripheral_reset(ms);
}
int PWMOut::capture_ioctl(struct file *filp, int cmd, unsigned long arg)
{
int ret = -EINVAL;
#if defined(BOARD_HAS_CAPTURE)
int PWMOut::capture_ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
{
int ret = -EINVAL;
lock();
@@ -1463,11 +1453,9 @@ int PWMOut::capture_ioctl(struct file *filp, int cmd, unsigned long arg)
unlock();
#else
ret = -ENOTTY;
#endif
return ret;
}
#endif // BOARD_HAS_CAPTURE
int PWMOut::fmu_new_mode(PortMode new_mode)
{
@@ -1475,9 +1463,7 @@ int PWMOut::fmu_new_mode(PortMode new_mode)
return -1;
}
PWMOut::Mode servo_mode;
servo_mode = PWMOut::MODE_NONE;
PWMOut::Mode servo_mode = PWMOut::MODE_NONE;
switch (new_mode) {
case PORT_FULL_GPIO:
@@ -1600,17 +1586,7 @@ int PWMOut::fmu_new_mode(PortMode new_mode)
return OK;
}
namespace
{
int fmu_new_i2c_speed(unsigned bus, unsigned clock_hz)
{
return PWMOut::set_i2c_bus_clock(bus, clock_hz);
}
} // namespace
#if defined(BOARD_HAS_CAPTURE)
int PWMOut::test()
{
int fd;
@@ -1801,18 +1777,22 @@ err_out_no_test:
::close(fd);
return rv;
}
#endif // BOARD_HAS_CAPTURE
int PWMOut::custom_command(int argc, char *argv[])
{
PortMode new_mode = PORT_MODE_UNSET;
const char *verb = argv[0];
/* does not operate on a FMU instance */
#if defined(__PX4_NUTTX)
/* does not operate on a PWMOut instance */
if (!strcmp(verb, "i2c")) {
// TODO: remove sensor reset from drivers/pwm_out
if (argc > 2) {
int bus = strtol(argv[1], 0, 0);
int clock_hz = strtol(argv[2], 0, 0);
int ret = fmu_new_i2c_speed(bus, clock_hz);
int ret = device::I2C::set_bus_clock(bus, clock_hz);
if (ret) {
PX4_ERR("setting I2C clock failed");
@@ -1825,31 +1805,34 @@ int PWMOut::custom_command(int argc, char *argv[])
}
if (!strcmp(verb, "sensor_reset")) {
// TODO: remove sensor reset from drivers/pwm_out
if (argc > 1) {
int reset_time = strtol(argv[1], nullptr, 0);
sensor_reset(reset_time);
board_spi_reset(math::max(reset_time, 1), 0xffff);
} else {
sensor_reset(0);
PX4_INFO("reset default time");
// 1 millisecond
board_spi_reset(1, 0xffff);
}
return 0;
}
if (!strcmp(verb, "peripheral_reset")) {
// TODO: remove peripheral reset from drivers/pwm_out
if (argc > 2) {
int reset_time = strtol(argv[2], 0, 0);
peripheral_reset(reset_time);
// minimum 10 millisecond
board_peripheral_reset(math::max(10, reset_time));
} else {
peripheral_reset(0);
PX4_INFO("reset default time");
board_peripheral_reset(10);
}
return 0;
}
#endif // __PX4_NUTTX
/* start the FMU if not running */
if (!is_running()) {
@@ -1937,10 +1920,14 @@ int PWMOut::custom_command(int argc, char *argv[])
return PWMOut::fmu_new_mode(new_mode);
}
#if defined(BOARD_HAS_CAPTURE)
if (!strcmp(verb, "test")) {
return test();
}
#endif // BOARD_HAS_CAPTURE
return print_usage("unknown command");
}
@@ -1957,31 +1944,33 @@ int PWMOut::print_status()
case MODE_2PWM: mode_str = "pwm2"; break;
case MODE_2PWM2CAP: mode_str = "pwm2cap2"; break;
case MODE_3PWM: mode_str = "pwm3"; break;
case MODE_3PWM1CAP: mode_str = "pwm3cap1"; break;
case MODE_4PWM: mode_str = "pwm4"; break;
case MODE_5PWM: mode_str = "pwm5"; break;
case MODE_6PWM: mode_str = "pwm6"; break;
case MODE_8PWM: mode_str = "pwm8"; break;
#if defined(BOARD_HAS_CAPTURE)
case MODE_2PWM2CAP: mode_str = "pwm2cap2"; break;
case MODE_3PWM1CAP: mode_str = "pwm3cap1"; break;
case MODE_4PWM1CAP: mode_str = "pwm4cap1"; break;
case MODE_4PWM2CAP: mode_str = "pwm4cap2"; break;
case MODE_5PWM: mode_str = "pwm5"; break;
case MODE_5PWM1CAP: mode_str = "pwm5cap1"; break;
case MODE_6PWM: mode_str = "pwm6"; break;
case MODE_8PWM: mode_str = "pwm8"; break;
case MODE_4CAP: mode_str = "cap4"; break;
case MODE_5CAP: mode_str = "cap5"; break;
case MODE_6CAP: mode_str = "cap6"; break;
#endif // BOARD_HAS_CAPTURE
default:
break;
@@ -2042,24 +2031,27 @@ mixer files.
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 >= 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_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_pwm3");
PRINT_MODULE_USAGE_COMMAND("mode_pwm2");
PRINT_MODULE_USAGE_COMMAND("mode_pwm2cap2");
#if defined(BOARD_HAS_CAPTURE)
PRINT_MODULE_USAGE_COMMAND("mode_pwm5cap1");
PRINT_MODULE_USAGE_COMMAND("mode_pwm4cap1");
PRINT_MODULE_USAGE_COMMAND("mode_pwm4cap2");
PRINT_MODULE_USAGE_COMMAND("mode_pwm3cap1");
PRINT_MODULE_USAGE_COMMAND("mode_pwm2cap2");
#endif // BOARD_HAS_CAPTURE
#endif
#if defined(BOARD_HAS_PWM)
PRINT_MODULE_USAGE_COMMAND("mode_pwm1");
PRINT_MODULE_USAGE_COMMAND("mode_pwm1");
#endif
#if defined(__PX4_NUTTX)
PRINT_MODULE_USAGE_COMMAND_DESCR("sensor_reset", "Do a sensor reset (SPI bus)");
PRINT_MODULE_USAGE_ARG("<ms>", "Delay time in ms between reset and re-enabling", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("peripheral_reset", "Reset board peripherals");
@@ -2067,6 +2059,7 @@ mixer files.
PRINT_MODULE_USAGE_COMMAND_DESCR("i2c", "Configure I2C clock rate");
PRINT_MODULE_USAGE_ARG("<bus_id> <rate>", "Specify the bus id (>=0) and rate in Hz", false);
#endif // __PX4_NUTTX
PRINT_MODULE_USAGE_COMMAND_DESCR("test", "Test inputs and outputs");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();