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Merge branch 'update_rate' of https://github.com/sjwilks/Firmware into ardrone

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This commit is contained in:
Lorenz Meier 2012-09-29 12:46:20 +02:00
commit 1725069c18
2 changed files with 44 additions and 22 deletions
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64
apps/px4/fmu/fmu.cpp
View File

@ -66,7 +66,6 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
class FMUServo : public device::CDev
{
public:
@ -75,7 +74,7 @@ public:
MODE_4PWM,
MODE_NONE
};
FMUServo(Mode mode);
FMUServo(Mode mode, int update_rate);
~FMUServo();
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
@ -86,6 +85,7 @@ private:
static const unsigned _max_actuators = 4;
Mode _mode;
int _update_rate;
int _task;
int _t_actuators;
int _t_armed;
@ -115,9 +115,10 @@ FMUServo *g_servo;
} // namespace
FMUServo::FMUServo(Mode mode) :
FMUServo::FMUServo(Mode mode, int update_rate) :
CDev("fmuservo", PWM_OUTPUT_DEVICE_PATH),
_mode(mode),
_update_rate(update_rate),
_task(-1),
_t_actuators(-1),
_t_armed(-1),
@ -199,6 +200,8 @@ FMUServo::task_main()
/* multi-port as 4 PWM outs */
/* XXX magic numbers */
up_pwm_servo_init(0xf);
/* set the update rate for 4 PWM mode only for now */
up_pwm_servo_set_rate(_update_rate);
break;
case MODE_NONE:
@ -208,7 +211,9 @@ FMUServo::task_main()
/* subscribe to objects that we are interested in watching */
_t_actuators = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
orb_set_interval(_t_actuators, 20); /* 50Hz update rate */
/* convert the update rate in hz to milliseconds, rounding down if necessary */
int update_rate_in_ms = int(1000 / _update_rate);
orb_set_interval(_t_actuators, update_rate_in_ms);
_t_armed = orb_subscribe(ORB_ID(actuator_armed));
orb_set_interval(_t_armed, 200); /* 5Hz update rate */
@ -444,7 +449,7 @@ enum PortMode {
PortMode g_port_mode;
int
fmu_new_mode(PortMode new_mode)
fmu_new_mode(PortMode new_mode, int update_rate)
{
int fd;
int ret = OK;
@ -511,7 +516,7 @@ fmu_new_mode(PortMode new_mode)
/* create new PWM driver if required */
if (servo_mode != FMUServo::MODE_NONE) {
g_servo = new FMUServo(servo_mode);
g_servo = new FMUServo(servo_mode, update_rate);
if (g_servo == nullptr) {
ret = -ENOMEM;
@ -585,6 +590,7 @@ int
fmu_main(int argc, char *argv[])
{
PortMode new_mode = PORT_MODE_UNSET;
int pwm_update_rate_in_hz = 50;
if (!strcmp(argv[1], "test"))
test();
@ -597,24 +603,40 @@ fmu_main(int argc, char *argv[])
*
* XXX use getopt?
*/
if (!strcmp(argv[1], "mode_gpio")) {
new_mode = PORT_FULL_GPIO;
for (int i = 1; i < argc; i++) { /* argv[0] is "fmu" */
if (!strcmp(argv[i], "mode_gpio")) {
new_mode = PORT_FULL_GPIO;
} else if (!strcmp(argv[1], "mode_serial")) {
new_mode = PORT_FULL_SERIAL;
} else if (!strcmp(argv[i], "mode_serial")) {
new_mode = PORT_FULL_SERIAL;
} else if (!strcmp(argv[1], "mode_pwm")) {
new_mode = PORT_FULL_PWM;
} else if (!strcmp(argv[i], "mode_pwm")) {
new_mode = PORT_FULL_PWM;
} else if (!strcmp(argv[1], "mode_gpio_serial")) {
new_mode = PORT_GPIO_AND_SERIAL;
} else if (!strcmp(argv[i], "mode_gpio_serial")) {
new_mode = PORT_GPIO_AND_SERIAL;
} else if (!strcmp(argv[1], "mode_pwm_serial")) {
new_mode = PORT_PWM_AND_SERIAL;
} else if (!strcmp(argv[i], "mode_pwm_serial")) {
new_mode = PORT_PWM_AND_SERIAL;
} else if (!strcmp(argv[1], "mode_pwm_gpio")) {
new_mode = PORT_PWM_AND_GPIO;
}
} else if (!strcmp(argv[i], "mode_pwm_gpio")) {
new_mode = PORT_PWM_AND_GPIO;
}
/* look for the optional pwm update rate for the supported modes */
if (strcmp(argv[i], "-u") == 0 || strcmp(argv[i], "--update-rate") == 0) {
if (new_mode == PORT_FULL_PWM || new_mode == PORT_PWM_AND_GPIO) {
if (argc > i + 1) {
pwm_update_rate_in_hz = atoi(argv[i + 1]);
} else {
fprintf(stderr, "missing argument for pwm update rate (-u)\n");
return 1;
}
} else {
fprintf(stderr, "pwm update rate currently only supported for mode_pwm, mode_pwm_gpio\n");
}
}
}
/* was a new mode set? */
if (new_mode != PORT_MODE_UNSET) {
@ -624,12 +646,12 @@ fmu_main(int argc, char *argv[])
return OK;
/* switch modes */
return fmu_new_mode(new_mode);
return fmu_new_mode(new_mode, pwm_update_rate_in_hz);
}
/* test, etc. here */
fprintf(stderr, "FMU: unrecognised command, try:\n");
fprintf(stderr, " mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio\n");
fprintf(stderr, " mode_gpio, mode_serial, mode_pwm [-r pwm_update_rate_in_hz], mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio\n");
return -EINVAL;
}

2
nuttx/configs/px4fmu/src/up_pwm_servo.c
View File

@ -179,7 +179,7 @@ static void
pwm_timer_set_rate(unsigned timer, unsigned rate)
{
/* configure the timer to update at the desired rate */
rARR(timer) = 1000000 / pwm_update_rate;
rARR(timer) = 1000000 / rate;
/* generate an update event; reloads the counter and all registers */
rEGR(timer) = GTIM_EGR_UG;