mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-17 07:43:34 +08:00
pwm_out_sim cleanup
- move to ModuleBase - strip down to PWM 8 and 16 modes only - remove all dead code - implement missing pwm ioctls (current value, rates, etc) - default rate 50Hz -> 400Hz
This commit is contained in:
Daniel Agar
@@ -33,12 +33,6 @@
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px4_add_module(
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MODULE drivers__pwm_out_sim
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MAIN pwm_out_sim
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STACK_MAIN 1200
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STACK_MAX 1200
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COMPILE_FLAGS
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SRCS
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pwm_out_sim.cpp
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DEPENDS
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platforms__common
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PWMSim.cpp
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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@@ -0,0 +1,666 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "PWMSim.hpp"
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PWMSim::PWMSim() :
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CDev("pwm_out_sim", PWM_OUTPUT0_DEVICE_PATH)
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{
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for (unsigned i = 0; i < MAX_ACTUATORS; i++) {
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_pwm_min[i] = PWM_SIM_PWM_MIN_MAGIC;
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_pwm_max[i] = PWM_SIM_PWM_MAX_MAGIC;
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}
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_control_topics[0] = ORB_ID(actuator_controls_0);
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_control_topics[1] = ORB_ID(actuator_controls_1);
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_control_topics[2] = ORB_ID(actuator_controls_2);
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_control_topics[3] = ORB_ID(actuator_controls_3);
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for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
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_control_subs[i] = -1;
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}
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CDev::init();
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// default to MODE_16PWM
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set_mode(MODE_16PWM);
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}
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int
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PWMSim::set_mode(Mode mode)
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{
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/*
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* Configure for PWM output.
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*
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* Note that regardless of the configured mode, the task is always
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* listening and mixing; the mode just selects which of the channels
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* are presented on the output pins.
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*/
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switch (mode) {
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case MODE_8PWM:
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PX4_INFO("MODE_8PWM");
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/* multi-port as 8 PWM outs */
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_update_rate = 400; /* default output rate */
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_num_outputs = 8;
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break;
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case MODE_16PWM:
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PX4_INFO("MODE_16PWM");
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/* multi-port as 16 PWM outs */
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_update_rate = 400; /* default output rate */
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_num_outputs = 16;
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break;
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case MODE_NONE:
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PX4_INFO("MODE_NONE");
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/* disable servo outputs and set a very low update rate */
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_update_rate = 10;
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_num_outputs = 0;
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break;
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default:
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return -EINVAL;
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}
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_mode = mode;
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return OK;
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}
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int
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PWMSim::set_pwm_rate(unsigned rate)
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{
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if ((rate > 500) || (rate < 10)) {
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return -EINVAL;
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}
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_update_rate = rate;
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return OK;
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}
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void
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PWMSim::subscribe()
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{
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/* subscribe/unsubscribe to required actuator control groups */
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uint32_t sub_groups = _groups_required & ~_groups_subscribed;
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uint32_t unsub_groups = _groups_subscribed & ~_groups_required;
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_poll_fds_num = 0;
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for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
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if (sub_groups & (1 << i)) {
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PX4_DEBUG("subscribe to actuator_controls_%d", i);
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_control_subs[i] = orb_subscribe(_control_topics[i]);
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}
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if (unsub_groups & (1 << i)) {
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PX4_DEBUG("unsubscribe from actuator_controls_%d", i);
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orb_unsubscribe(_control_subs[i]);
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_control_subs[i] = -1;
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}
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if (_control_subs[i] >= 0) {
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_poll_fds[_poll_fds_num].fd = _control_subs[i];
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_poll_fds[_poll_fds_num].events = POLLIN;
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_poll_fds_num++;
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}
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}
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}
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void
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PWMSim::run()
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{
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/* force a reset of the update rate */
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_current_update_rate = 0;
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_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
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/* advertise the mixed control outputs, insist on the first group output */
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_outputs_pub = orb_advertise(ORB_ID(actuator_outputs), &_actuator_outputs);
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/* loop until killed */
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while (!should_exit()) {
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if (_groups_subscribed != _groups_required) {
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subscribe();
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_groups_subscribed = _groups_required;
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}
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/* handle update rate changes */
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if (_current_update_rate != _update_rate) {
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int update_rate_in_ms = int(1000 / _update_rate);
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if (update_rate_in_ms < 2) {
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update_rate_in_ms = 2;
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}
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for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
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if (_control_subs[i] >= 0) {
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orb_set_interval(_control_subs[i], update_rate_in_ms);
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}
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}
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// up_pwm_servo_set_rate(_update_rate);
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_current_update_rate = _update_rate;
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}
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/* this can happen during boot, but after the sleep its likely resolved */
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if (_poll_fds_num == 0) {
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usleep(1000 * 1000);
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PX4_DEBUG("no valid fds");
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continue;
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}
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/* sleep waiting for data, but no more than a second */
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int ret = px4_poll(&_poll_fds[0], _poll_fds_num, 1000);
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/* this would be bad... */
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if (ret < 0) {
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PX4_ERR("poll error %d", errno);
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continue;
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}
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if (ret == 0) {
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// timeout
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continue;
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}
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/* get controls for required topics */
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unsigned poll_id = 0;
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for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
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if (_control_subs[i] >= 0) {
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if (_poll_fds[poll_id].revents & POLLIN) {
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orb_copy(_control_topics[i], _control_subs[i], &_controls[i]);
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}
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poll_id++;
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}
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}
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/* can we mix? */
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if (_armed && _mixers != nullptr) {
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/* do mixing */
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unsigned num_outputs = _mixers->mix(&_actuator_outputs.output[0], _num_outputs);
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_actuator_outputs.noutputs = num_outputs;
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_actuator_outputs.timestamp = hrt_absolute_time();
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/* disable unused ports by setting their output to NaN */
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for (size_t i = 0; i < sizeof(_actuator_outputs.output) / sizeof(_actuator_outputs.output[0]); i++) {
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if (i >= num_outputs) {
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_actuator_outputs.output[i] = NAN;
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}
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}
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/* iterate actuators */
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for (unsigned i = 0; i < num_outputs; i++) {
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/* last resort: catch NaN, INF and out-of-band errors */
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if (i < _actuator_outputs.noutputs &&
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PX4_ISFINITE(_actuator_outputs.output[i]) &&
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_actuator_outputs.output[i] >= -1.0f &&
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_actuator_outputs.output[i] <= 1.0f) {
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/* scale for PWM output 1000 - 2000us */
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_actuator_outputs.output[i] = 1500 + (500 * _actuator_outputs.output[i]);
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if (_actuator_outputs.output[i] > _pwm_max[i]) {
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_actuator_outputs.output[i] = _pwm_max[i];
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}
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if (_actuator_outputs.output[i] < _pwm_min[i]) {
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_actuator_outputs.output[i] = _pwm_min[i];
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}
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} else {
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/*
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* Value is NaN, INF or out of band - set to the minimum value.
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* This will be clearly visible on the servo status and will limit the risk of accidentally
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* spinning motors. It would be deadly in flight.
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*/
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_actuator_outputs.output[i] = PWM_SIM_DISARMED_MAGIC;
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}
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}
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/* overwrite outputs in case of force_failsafe */
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if (_failsafe) {
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for (size_t i = 0; i < num_outputs; i++) {
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_actuator_outputs.output[i] = PWM_SIM_FAILSAFE_MAGIC;
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}
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}
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/* overwrite outputs in case of lockdown */
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if (_lockdown) {
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for (size_t i = 0; i < num_outputs; i++) {
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_actuator_outputs.output[i] = 0.0;
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}
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}
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/* and publish for anyone that cares to see */
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orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &_actuator_outputs);
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}
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/* how about an arming update? */
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bool updated;
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orb_check(_armed_sub, &updated);
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if (updated) {
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actuator_armed_s aa = {};
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if (orb_copy(ORB_ID(actuator_armed), _armed_sub, &aa) == PX4_OK) {
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/* do not obey the lockdown value, as lockdown is for PWMSim. Only obey manual lockdown */
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_armed = aa.armed;
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_failsafe = aa.force_failsafe;
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_lockdown = aa.manual_lockdown;
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}
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}
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}
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for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
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if (_control_subs[i] >= 0) {
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orb_unsubscribe(_control_subs[i]);
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}
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}
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orb_unsubscribe(_armed_sub);
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}
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int
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PWMSim::control_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input)
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{
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const actuator_controls_s *controls = (actuator_controls_s *)handle;
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input = controls[control_group].control[control_index];
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return 0;
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}
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int
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PWMSim::ioctl(device::file_t *filp, int cmd, unsigned long arg)
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{
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int ret = OK;
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lock();
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switch (cmd) {
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case PWM_SERVO_ARM:
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// up_pwm_servo_arm(true);
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break;
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case PWM_SERVO_DISARM:
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// up_pwm_servo_arm(false);
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break;
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case PWM_SERVO_SET_MIN_PWM: {
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struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
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for (unsigned i = 0; i < pwm->channel_count; i++) {
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if (i <= MAX_ACTUATORS) {
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_pwm_min[i] = pwm->values[i];
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}
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}
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break;
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}
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case PWM_SERVO_SET_MAX_PWM: {
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struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
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for (unsigned i = 0; i < pwm->channel_count; i++) {
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if (i <= MAX_ACTUATORS) {
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_pwm_max[i] = pwm->values[i];
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}
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}
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break;
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}
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case PWM_SERVO_SET_UPDATE_RATE:
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// PWMSim always outputs at the alternate (usually faster) rate
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set_pwm_rate(arg);
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break;
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case PWM_SERVO_SET_SELECT_UPDATE_RATE:
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// PWMSim always outputs at the alternate (usually faster) rate
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break;
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case PWM_SERVO_GET_DEFAULT_UPDATE_RATE:
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*(uint32_t *)arg = 400;
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break;
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case PWM_SERVO_GET_UPDATE_RATE:
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*(uint32_t *)arg = _current_update_rate;
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break;
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case PWM_SERVO_GET_SELECT_UPDATE_RATE:
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*(uint32_t *)arg = 0;
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break;
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case PWM_SERVO_GET_FAILSAFE_PWM: {
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struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
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for (unsigned i = 0; i < _num_outputs; i++) {
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pwm->values[i] = PWM_SIM_FAILSAFE_MAGIC;
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}
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pwm->channel_count = _num_outputs;
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break;
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}
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case PWM_SERVO_GET_DISARMED_PWM: {
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struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
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for (unsigned i = 0; i < _num_outputs; i++) {
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pwm->values[i] = PWM_SIM_DISARMED_MAGIC;
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}
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pwm->channel_count = _num_outputs;
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break;
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}
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case PWM_SERVO_GET_MIN_PWM: {
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struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
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for (unsigned i = 0; i < _num_outputs; i++) {
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pwm->values[i] = PWM_SIM_PWM_MIN_MAGIC;
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}
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pwm->channel_count = _num_outputs;
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break;
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||||
}
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case PWM_SERVO_GET_TRIM_PWM: {
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struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
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||||
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||||
for (unsigned i = 0; i < _num_outputs; i++) {
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pwm->values[i] = (PWM_SIM_PWM_MAX_MAGIC + PWM_SIM_PWM_MIN_MAGIC) / 2;
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}
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||||
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||||
pwm->channel_count = _num_outputs;
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break;
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}
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case PWM_SERVO_GET_MAX_PWM: {
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||||
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
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||||
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||||
for (unsigned i = 0; i < _num_outputs; i++) {
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pwm->values[i] = PWM_SIM_PWM_MAX_MAGIC;
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||||
}
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||||
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||||
pwm->channel_count = _num_outputs;
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||||
break;
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||||
}
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||||
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||||
case PWM_SERVO_GET(0) ... PWM_SERVO_GET(PWM_OUTPUT_MAX_CHANNELS - 1): {
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||||
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||||
unsigned channel = cmd - PWM_SERVO_GET(0);
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||||
|
||||
if (channel >= _num_outputs) {
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||||
ret = -EINVAL;
|
||||
|
||||
} else {
|
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/* fetch a current PWM value */
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||||
*(servo_position_t *)arg = _actuator_outputs.output[channel];
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||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
case PWM_SERVO_GET_RATEGROUP(0) ... PWM_SERVO_GET_RATEGROUP(PWM_OUTPUT_MAX_CHANNELS - 1): {
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// no restrictions on output grouping
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unsigned channel = cmd - PWM_SERVO_GET_RATEGROUP(0);
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||||
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||||
*(uint32_t *)arg = (1 << channel);
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||||
break;
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||||
}
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||||
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||||
case PWM_SERVO_GET_COUNT:
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||||
case MIXERIOCGETOUTPUTCOUNT:
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||||
if (_mode == MODE_16PWM) {
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||||
*(unsigned *)arg = 16;
|
||||
|
||||
} else if (_mode == MODE_8PWM) {
|
||||
|
||||
*(unsigned *)arg = 8;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case MIXERIOCRESET:
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||||
if (_mixers != nullptr) {
|
||||
delete _mixers;
|
||||
_mixers = nullptr;
|
||||
_groups_required = 0;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case MIXERIOCADDSIMPLE: {
|
||||
mixer_simple_s *mixinfo = (mixer_simple_s *)arg;
|
||||
|
||||
SimpleMixer *mixer = new SimpleMixer(control_callback, (uintptr_t)&_controls, mixinfo);
|
||||
|
||||
if (mixer->check()) {
|
||||
delete mixer;
|
||||
_groups_required = 0;
|
||||
ret = -EINVAL;
|
||||
|
||||
} else {
|
||||
if (_mixers == nullptr) {
|
||||
_mixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
|
||||
}
|
||||
|
||||
_mixers->add_mixer(mixer);
|
||||
_mixers->groups_required(_groups_required);
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
case MIXERIOCLOADBUF: {
|
||||
const char *buf = (const char *)arg;
|
||||
unsigned buflen = strnlen(buf, 1024);
|
||||
|
||||
if (_mixers == nullptr) {
|
||||
_mixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
|
||||
}
|
||||
|
||||
if (_mixers == nullptr) {
|
||||
_groups_required = 0;
|
||||
ret = -ENOMEM;
|
||||
|
||||
} else {
|
||||
|
||||
ret = _mixers->load_from_buf(buf, buflen);
|
||||
|
||||
if (ret != 0) {
|
||||
PX4_ERR("mixer load failed with %d", ret);
|
||||
delete _mixers;
|
||||
_mixers = nullptr;
|
||||
_groups_required = 0;
|
||||
ret = -EINVAL;
|
||||
|
||||
} else {
|
||||
_mixers->groups_required(_groups_required);
|
||||
}
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
default:
|
||||
ret = -ENOTTY;
|
||||
break;
|
||||
}
|
||||
|
||||
unlock();
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
PWMSim::task_spawn(int argc, char *argv[])
|
||||
{
|
||||
_task_id = px4_task_spawn_cmd("pwmsim",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_ACTUATOR_OUTPUTS,
|
||||
1310,
|
||||
(px4_main_t)&run_trampoline,
|
||||
nullptr);
|
||||
|
||||
if (_task_id < 0) {
|
||||
_task_id = -1;
|
||||
return -errno;
|
||||
}
|
||||
|
||||
// wait until task is up & running (the mode_* commands depend on it)
|
||||
if (wait_until_running() < 0) {
|
||||
_task_id = -1;
|
||||
return -1;
|
||||
}
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
PWMSim *PWMSim::instantiate(int argc, char *argv[])
|
||||
{
|
||||
return new PWMSim();
|
||||
}
|
||||
|
||||
int PWMSim::custom_command(int argc, char *argv[])
|
||||
{
|
||||
const char *verb = argv[0];
|
||||
|
||||
/* start the FMU if not running */
|
||||
if (!is_running()) {
|
||||
int ret = PWMSim::task_spawn(argc, argv);
|
||||
|
||||
if (ret) {
|
||||
return ret;
|
||||
}
|
||||
}
|
||||
|
||||
Mode servo_mode = MODE_NONE;
|
||||
|
||||
if (!strcmp(verb, "mode_pwm")) {
|
||||
servo_mode = PWMSim::MODE_8PWM;
|
||||
|
||||
} else if (!strcmp(verb, "mode_pwm16")) {
|
||||
servo_mode = PWMSim::MODE_16PWM;
|
||||
}
|
||||
|
||||
/* was a new mode set? */
|
||||
if (servo_mode != MODE_NONE) {
|
||||
/* switch modes */
|
||||
PWMSim *object = get_instance();
|
||||
|
||||
if (servo_mode != object->get_mode()) {
|
||||
/* (re)set the PWM output mode */
|
||||
return object->set_mode(servo_mode);
|
||||
}
|
||||
}
|
||||
|
||||
return print_usage("unknown command");
|
||||
}
|
||||
|
||||
int PWMSim::print_usage(const char *reason)
|
||||
{
|
||||
if (reason) {
|
||||
PX4_WARN("%s\n", reason);
|
||||
}
|
||||
|
||||
PRINT_MODULE_DESCRIPTION(
|
||||
R"DESCR_STR(
|
||||
### Description
|
||||
|
||||
Driver/configurator for the virtual PWMSim port.
|
||||
|
||||
This virtual driver emulates PWM / servo outputs for setups where
|
||||
the connected hardware does not provide enough or no PWM outputs.
|
||||
|
||||
Its only function is to take actuator_control uORB messages,
|
||||
mix them with any loaded mixer and output the result to the
|
||||
actuator_output uORB topic. PWMSim can also be performed with normal
|
||||
PWM outputs, a special flag prevents the outputs to be operated
|
||||
during PWMSim mode. If PWMSim is not performed with a standalone FMU,
|
||||
but in a real system, it is NOT recommended to use this virtual
|
||||
driver. Use instead the normal FMU or IO driver.
|
||||
|
||||
)DESCR_STR");
|
||||
|
||||
PRINT_MODULE_USAGE_NAME("pwmsim", "driver");
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the task (without any mode set, use any of the mode_* cmds)");
|
||||
|
||||
PRINT_MODULE_USAGE_PARAM_COMMENT("All of the mode_* commands will start the pwm sim if not running already");
|
||||
|
||||
PRINT_MODULE_USAGE_COMMAND("mode_pwm");
|
||||
PRINT_MODULE_USAGE_COMMAND("mode_pwm16");
|
||||
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int PWMSim::print_status()
|
||||
{
|
||||
PX4_INFO("Running max update rate: %i Hz", _current_update_rate);
|
||||
PX4_INFO("Polling %i actuator controls", _poll_fds_num);
|
||||
|
||||
const char *mode_str = nullptr;
|
||||
|
||||
switch (_mode) {
|
||||
case MODE_8PWM: mode_str = "pwm8"; break;
|
||||
case MODE_16PWM: mode_str = "pwm16"; break;
|
||||
|
||||
case MODE_NONE: mode_str = "no pwm"; break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
if (mode_str) {
|
||||
PX4_INFO("PWM Mode: %s", mode_str);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int pwm_out_sim_main(int argc, char *argv[]);
|
||||
|
||||
int
|
||||
pwm_out_sim_main(int argc, char *argv[])
|
||||
{
|
||||
return PWMSim::main(argc, argv);
|
||||
}
|
||||
@@ -0,0 +1,138 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2018 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifndef DRIVERS_PWM_OUT_SIM_PWMSIM_HPP_
|
||||
#define DRIVERS_PWM_OUT_SIM_PWMSIM_HPP_
|
||||
|
||||
#include <string.h>
|
||||
|
||||
#include <drivers/device/device.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_mixer.h>
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
#include <lib/mixer/mixer.h>
|
||||
#include <px4_common.h>
|
||||
#include <px4_config.h>
|
||||
#include <px4_module.h>
|
||||
#include <px4_tasks.h>
|
||||
#include <px4_time.h>
|
||||
#include <uORB/topics/actuator_armed.h>
|
||||
#include <uORB/topics/actuator_controls.h>
|
||||
#include <uORB/topics/actuator_outputs.h>
|
||||
|
||||
class PWMSim : public device::CDev, public ModuleBase<PWMSim>
|
||||
{
|
||||
static constexpr uint32_t PWM_SIM_DISARMED_MAGIC = 900;
|
||||
static constexpr uint32_t PWM_SIM_FAILSAFE_MAGIC = 600;
|
||||
static constexpr uint32_t PWM_SIM_PWM_MIN_MAGIC = 1000;
|
||||
static constexpr uint32_t PWM_SIM_PWM_MAX_MAGIC = 2000;
|
||||
|
||||
public:
|
||||
|
||||
enum Mode {
|
||||
MODE_8PWM,
|
||||
MODE_16PWM,
|
||||
MODE_NONE
|
||||
};
|
||||
|
||||
PWMSim();
|
||||
virtual ~PWMSim() = default;
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int task_spawn(int argc, char *argv[]);
|
||||
|
||||
/** @see ModuleBase */
|
||||
static PWMSim *instantiate(int argc, char *argv[]);
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int custom_command(int argc, char *argv[]);
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int print_usage(const char *reason = nullptr);
|
||||
|
||||
/** @see ModuleBase::run() */
|
||||
void run() override;
|
||||
|
||||
/** @see ModuleBase::print_status() */
|
||||
int print_status() override;
|
||||
|
||||
|
||||
int ioctl(device::file_t *filp, int cmd, unsigned long arg) override;
|
||||
|
||||
int set_pwm_rate(unsigned rate);
|
||||
|
||||
int set_mode(Mode mode);
|
||||
Mode get_mode() { return _mode; }
|
||||
|
||||
private:
|
||||
static constexpr unsigned MAX_ACTUATORS = 16;
|
||||
|
||||
Mode _mode{MODE_NONE};
|
||||
|
||||
int _update_rate{400};
|
||||
int _current_update_rate{0};
|
||||
|
||||
int _control_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
|
||||
|
||||
px4_pollfd_struct_t _poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
|
||||
unsigned _poll_fds_num{0};
|
||||
|
||||
int _armed_sub{-1};
|
||||
|
||||
actuator_outputs_s _actuator_outputs = {};
|
||||
orb_advert_t _outputs_pub{nullptr};
|
||||
|
||||
unsigned _num_outputs{0};
|
||||
|
||||
unsigned _pwm_min[MAX_ACTUATORS] {};
|
||||
unsigned _pwm_max[MAX_ACTUATORS] {};
|
||||
|
||||
uint32_t _groups_required{0};
|
||||
uint32_t _groups_subscribed{0};
|
||||
|
||||
bool _armed{false};
|
||||
bool _lockdown{false};
|
||||
bool _failsafe{false};
|
||||
|
||||
MixerGroup *_mixers{nullptr};
|
||||
|
||||
actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
|
||||
orb_id_t _control_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
|
||||
|
||||
static int control_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input);
|
||||
|
||||
void subscribe();
|
||||
|
||||
};
|
||||
|
||||
#endif /* DRIVERS_PWM_OUT_SIM_PWMSIM_HPP_ */
|
||||
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user