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PWM12 mode for pwm_out and dshot

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This commit is contained in:
Daniel Agar
2021-02-12 09:19:18 -05:00
parent 0614789db3
commit 15e76ad993
5 changed files with 113 additions and 17 deletions
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src/drivers/dshot/DShot.cpp
+51 -10
View File
@@ -221,6 +221,18 @@ int DShot::set_mode(const Mode mode)
break;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 12
case MODE_12PWM:
PX4_DEBUG("MODE_12PWM");
// default output rates
_output_mask = 0xfff;
_outputs_initialized = false;
_num_outputs = 12;
break;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14
case MODE_14PWM:
@@ -642,6 +654,9 @@ int DShot::ioctl(file *filp, int cmd, unsigned long arg)
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
case MODE_8PWM:
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 12
case MODE_12PWM:
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14
case MODE_14PWM:
#endif
@@ -680,6 +695,13 @@ int DShot::pwm_ioctl(file *filp, const int cmd, const unsigned long arg)
break;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 12
case MODE_12PWM:
*(unsigned *)arg = 12;
break;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
case MODE_8PWM:
@@ -1003,6 +1025,9 @@ int DShot::module_new_mode(const PortMode new_mode)
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 8
mode = DShot::MODE_8PWM;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 12
mode = DShot::MODE_12PWM;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 14
mode = DShot::MODE_14PWM;
#endif
@@ -1268,6 +1293,16 @@ int DShot::custom_command(int argc, char *argv[])
} else if (!strcmp(verb, "mode_pwm8")) {
new_mode = PORT_PWM8;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 12
} else if (!strcmp(verb, "mode_pwm12")) {
new_mode = PORT_PWM12;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14
} else if (!strcmp(verb, "mode_pwm14")) {
new_mode = PORT_PWM14;
#endif
}
@@ -1371,23 +1406,29 @@ After saving, the reversed direction will be regarded as the normal one. So to r
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 >= 14
PRINT_MODULE_USAGE_COMMAND("mode_pwm14");
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 12
PRINT_MODULE_USAGE_COMMAND("mode_pwm12");
#endif
#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_pwm5cap1");
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_pwm4cap1");
PRINT_MODULE_USAGE_COMMAND("mode_pwm4cap2");
PRINT_MODULE_USAGE_COMMAND("mode_pwm3");
PRINT_MODULE_USAGE_COMMAND("mode_pwm3cap1");
PRINT_MODULE_USAGE_COMMAND("mode_pwm2");
PRINT_MODULE_USAGE_COMMAND("mode_pwm2cap2");
PRINT_MODULE_USAGE_COMMAND("mode_pwm2cap2");
#endif
#if defined(BOARD_HAS_PWM)
PRINT_MODULE_USAGE_COMMAND("mode_pwm1");
PRINT_MODULE_USAGE_COMMAND("mode_pwm1");
#endif
PRINT_MODULE_USAGE_COMMAND_DESCR("telemetry", "Enable Telemetry on a UART");
src/drivers/dshot/DShot.h
+2
View File
@@ -78,6 +78,7 @@ public:
MODE_5PWM1CAP,
MODE_6PWM,
MODE_8PWM,
MODE_12PWM,
MODE_14PWM,
MODE_4CAP,
MODE_5CAP,
@@ -90,6 +91,7 @@ public:
PORT_FULL_GPIO,
PORT_FULL_PWM,
PORT_PWM14,
PORT_PWM12,
PORT_PWM8,
PORT_PWM6,
PORT_PWM5,