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New pca9685 pwm output driver
This commit is contained in:
SalimTerryLi
committed by
Daniel Agar
Daniel Agar
parent
693d532bba
commit
3ed8e876b7
@@ -0,0 +1,617 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2019 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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/**
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* @file pca9685/main.cpp
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* A cross-platform driver and wrapper for pca9685.
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* Designed to support all control-groups by binding to correct mixer files
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* @author SalimTerryLi <lhf2613@gmail.com>
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*/
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#include <px4_log.h>
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#include <drivers/device/device.h>
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#include <lib/mixer_module/mixer_module.hpp>
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#include <px4_platform_common/module.h>
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#include <lib/perf/perf_counter.h>
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#include <drivers/drv_mixer.h>
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#include <drivers/drv_hrt.h>
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#include <px4_platform_common/getopt.h>
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#include "PCA9685.h"
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#define PCA9685_MAX_OUTPUT_CHANNELS 16
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#define PCA9685_DEVICE_BASE_PATH "/dev/pca9685"
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#define PCA9685_DEFAULT_IICBUS 1
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#define PCA9685_DEFAULT_ADDRESS (0x40)
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using namespace drv_pca9685_pwm;
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class PWMDriverWrapper : public cdev::CDev, public ModuleBase<PWMDriverWrapper>, public OutputModuleInterface
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{
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public:
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PWMDriverWrapper();
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~PWMDriverWrapper() override ;
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int init() override;
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int ioctl(cdev::file_t *filep, int cmd, unsigned long arg) override;
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void mixerChanged() override;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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bool updateOutputs(bool stop_motors, uint16_t *outputs, unsigned num_outputs,
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unsigned num_control_groups_updated) override;
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PWMDriverWrapper(const PWMDriverWrapper &) = delete;
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PWMDriverWrapper operator=(const PWMDriverWrapper &) = delete;
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int print_status() override;
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private:
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perf_counter_t _cycle_perf;
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void Run() override;
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protected:
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void updateParams() override;
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void updatePWMParams();
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void updatePWMParamTrim();
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PCA9685 *pca9685 = nullptr; // driver handle.
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uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; // param handle
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MixingOutput _mixing_output{PCA9685_MAX_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, true};
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private:
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};
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PWMDriverWrapper::PWMDriverWrapper() :
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CDev(PCA9685_DEVICE_BASE_PATH),
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OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default),
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_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
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{
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_mixing_output.setAllMinValues(PWM_DEFAULT_MIN);
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_mixing_output.setAllMaxValues(PWM_DEFAULT_MAX);
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}
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PWMDriverWrapper::~PWMDriverWrapper()
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{
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if (pca9685 != nullptr) { // normally this should not be called.
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PX4_DEBUG("Destruction of PWMDriverWrapper without pwmDevice unloaded!");
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pca9685->Stop(); // force stop
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delete pca9685;
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pca9685 = nullptr;
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}
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perf_free(_cycle_perf);
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}
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int PWMDriverWrapper::init()
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{
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int ret = CDev::init();
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if (ret != PX4_OK) {
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return ret;
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}
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ret = pca9685->Start();
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if (ret != PX4_OK) {
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return ret;
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}
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updatePWMParams();
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if (!_mixing_output.updateSubscriptions(true)) { // change to proper wq
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ScheduleNow();
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}
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return PX4_OK;
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}
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void PWMDriverWrapper::updateParams()
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{
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updatePWMParams();
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ModuleParams::updateParams();
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}
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void PWMDriverWrapper::updatePWMParams()
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{
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// update pwm params
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const char *pname_format_main_max = "PWM_MAIN_MAX%d";
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const char *pname_format_main_min = "PWM_MAIN_MIN%d";
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const char *pname_format_main_fail = "PWM_MAIN_FAIL%d";
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const char *pname_format_main_dis = "PWM_MAIN_DIS%d";
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const char *pname_format_main_rev = "PWM_MAIN_REV%d";
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const char *pname_format_aux_max = "PWM_AUX_MAX%d";
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const char *pname_format_aux_min = "PWM_AUX_MIN%d";
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const char *pname_format_aux_fail = "PWM_AUX_FAIL%d";
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const char *pname_format_aux_dis = "PWM_AUX_DIS%d";
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const char *pname_format_aux_rev = "PWM_AUX_REV%d";
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param_t param_h = param_find("PWM_MAX");
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if (param_h != PARAM_INVALID) {
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int32_t pval = 0;
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param_get(param_h, &pval);
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_mixing_output.setAllMaxValues(pval);
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} else {
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PX4_DEBUG("PARAM_INVALID: %s", "PWM_MAX");
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}
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param_h = param_find("PWM_MIN");
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if (param_h != PARAM_INVALID) {
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int32_t pval = 0;
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param_get(param_h, &pval);
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_mixing_output.setAllMinValues(pval);
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} else {
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PX4_DEBUG("PARAM_INVALID: %s", "PWM_MIN");
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}
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param_h = param_find("PWM_RATE");
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if (param_h != PARAM_INVALID) {
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int32_t pval = 0;
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param_get(param_h, &pval);
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if (pca9685->setFreq(pval) != PX4_OK) {
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PX4_DEBUG("failed to set pwm frequency");
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}
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} else {
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PX4_DEBUG("PARAM_INVALID: %s", "PWM_RATE");
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}
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for (int i = 0; i < 8; i++) {
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char pname[16];
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sprintf(pname, pname_format_main_max, i + 1);
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param_h = param_find(pname);
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if (param_h != PARAM_INVALID) {
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int32_t pval = 0;
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param_get(param_h, &pval);
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if (pval != -1) {
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_mixing_output.maxValue(i) = pval;
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}
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} else {
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PX4_DEBUG("PARAM_INVALID: %s", pname);
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}
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sprintf(pname, pname_format_main_min, i + 1);
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param_h = param_find(pname);
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if (param_h != PARAM_INVALID) {
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int32_t pval = 0;
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param_get(param_h, &pval);
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if (pval != -1) {
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_mixing_output.minValue(i) = pval;
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}
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} else {
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PX4_DEBUG("PARAM_INVALID: %s", pname);
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}
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sprintf(pname, pname_format_main_fail, i + 1);
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param_h = param_find(pname);
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if (param_h != PARAM_INVALID) {
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int32_t pval = 0;
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param_get(param_h, &pval);
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if (pval != -1) {
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_mixing_output.failsafeValue(i) = pval;
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}
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} else {
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PX4_DEBUG("PARAM_INVALID: %s", pname);
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}
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sprintf(pname, pname_format_main_dis, i + 1);
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param_h = param_find(pname);
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if (param_h != PARAM_INVALID) {
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int32_t pval = 0;
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param_get(param_h, &pval);
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if (pval != -1) {
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_mixing_output.disarmedValue(i) = pval;
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}
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} else {
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PX4_DEBUG("PARAM_INVALID: %s", pname);
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}
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sprintf(pname, pname_format_main_rev, i + 1);
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param_h = param_find(pname);
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if (param_h != PARAM_INVALID) {
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uint16_t &reverse_pwm_mask = _mixing_output.reverseOutputMask();
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int32_t pval = 0;
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param_get(param_h, &pval);
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reverse_pwm_mask &= (0xfffe << i); // clear this bit
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reverse_pwm_mask |= (((uint16_t)(pval != 0)) << i); // set to new val
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} else {
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PX4_DEBUG("PARAM_INVALID: %s", pname);
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}
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sprintf(pname, pname_format_aux_max, i + 1);
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param_h = param_find(pname);
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if (param_h != PARAM_INVALID) {
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int32_t pval = 0;
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param_get(param_h, &pval);
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if (pval != -1) {
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_mixing_output.maxValue(i + 8) = pval;
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}
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} else {
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PX4_DEBUG("PARAM_INVALID: %s", pname);
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}
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sprintf(pname, pname_format_aux_min, i + 1);
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param_h = param_find(pname);
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if (param_h != PARAM_INVALID) {
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int32_t pval = 0;
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param_get(param_h, &pval);
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if (pval != -1) {
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_mixing_output.minValue(i + 8) = pval;
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}
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} else {
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PX4_DEBUG("PARAM_INVALID: %s", pname);
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}
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sprintf(pname, pname_format_aux_fail, i + 1);
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param_h = param_find(pname);
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if (param_h != PARAM_INVALID) {
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int32_t pval = 0;
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param_get(param_h, &pval);
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if (pval != -1) {
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_mixing_output.failsafeValue(i + 8) = pval;
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}
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} else {
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PX4_DEBUG("PARAM_INVALID: %s", pname);
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}
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sprintf(pname, pname_format_aux_dis, i + 1);
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param_h = param_find(pname);
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if (param_h != PARAM_INVALID) {
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int32_t pval = 0;
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param_get(param_h, &pval);
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if (pval != -1) {
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_mixing_output.disarmedValue(i + 8) = pval;
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}
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} else {
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PX4_DEBUG("PARAM_INVALID: %s", pname);
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}
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sprintf(pname, pname_format_aux_rev, i + 1);
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param_h = param_find(pname);
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if (param_h != PARAM_INVALID) {
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uint16_t &reverse_pwm_mask = _mixing_output.reverseOutputMask();
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int32_t pval = 0;
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param_get(param_h, &pval);
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reverse_pwm_mask &= (0xfffe << (i + 8)); // clear this bit
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reverse_pwm_mask |= (((uint16_t)(pval != 0)) << (i + 8)); // set to new val
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} else {
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PX4_DEBUG("PARAM_INVALID: %s", pname);
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}
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}
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if (_mixing_output.mixers()) { // only update trims if mixer loaded
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updatePWMParamTrim();
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}
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}
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void PWMDriverWrapper::updatePWMParamTrim()
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{
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const char *pname_format_main_trim = "PWM_MAIN_TRIM%d";
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const char *pname_format_aux_trim = "PWM_AUX_TRIM%d";
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int16_t trim_values[PCA9685_MAX_OUTPUT_CHANNELS] = {};
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for (int i = 0; i < 8; i++) {
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char pname[16];
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sprintf(pname, pname_format_main_trim, i + 1);
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param_t param_h = param_find(pname);
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if (param_h != PARAM_INVALID) {
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float pval = 0.0f;
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param_get(param_h, &pval);
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trim_values[i] = (int16_t)(10000 * pval);
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} else {
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PX4_DEBUG("PARAM_INVALID: %s", pname);
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}
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sprintf(pname, pname_format_aux_trim, i + 1);
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param_h = param_find(pname);
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if (param_h != PARAM_INVALID) {
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float pval = 0.0f;
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param_get(param_h, &pval);
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trim_values[i + 8] = (int16_t)(10000 * pval);
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} else {
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PX4_DEBUG("PARAM_INVALID: %s", pname);
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}
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}
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unsigned n_out = _mixing_output.mixers()->set_trims(trim_values, PCA9685_MAX_OUTPUT_CHANNELS);
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PX4_DEBUG("set %d trims", n_out);
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}
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bool PWMDriverWrapper::updateOutputs(bool stop_motors, uint16_t *outputs, unsigned num_outputs,
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unsigned num_control_groups_updated)
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{
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/*char buf[1024]="PWM:";
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for(uint i=0;i<num_outputs;++i){
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sprintf(buf,"%s %.4d",buf,outputs[i]);
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}
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PX4_INFO("%s",buf);*/
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return pca9685->updatePWM(outputs, num_outputs);;
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}
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void PWMDriverWrapper::Run()
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{
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hrt_abstime timestamp = hrt_absolute_time();
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if (should_exit()) {
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PX4_INFO("PCA9685 stopping.");
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ScheduleClear();
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_mixing_output.unregister();
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pca9685->Stop();
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delete pca9685;
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pca9685 = nullptr;
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exit_and_cleanup();
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return;
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}
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perf_begin(_cycle_perf);
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_mixing_output.update();
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// check for parameter updates
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if (_parameter_update_sub.updated()) {
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// clear update
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parameter_update_s pupdate;
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_parameter_update_sub.copy(&pupdate);
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// update parameters from storage
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updateParams();
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}
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perf_end(_cycle_perf);
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int nextDelay = 1000000 / pca9685->getFrequency() - (hrt_absolute_time() - timestamp);
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if (nextDelay < 0) {
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PX4_DEBUG("PCA9685: can not follow up. %d us");
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ScheduleNow();
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} else {
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ScheduleDelayed((uint32_t)nextDelay);
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}
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}
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// TODO
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int PWMDriverWrapper::ioctl(cdev::file_t *filep, 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 MIXERIOCRESET:
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_mixing_output.resetMixerThreadSafe();
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break;
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case MIXERIOCLOADBUF: {
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const char *buf = (const char *)arg;
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unsigned buflen = strlen(buf);
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ret = _mixing_output.loadMixerThreadSafe(buf, buflen);
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break;
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}
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default:
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ret = -ENOTTY;
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break;
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}
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unlock();
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if (ret == -ENOTTY) {
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ret = CDev::ioctl(filep, cmd, arg);
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}
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return ret;
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}
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int PWMDriverWrapper::print_usage(const char *reason)
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{
|
||||
if (reason) {
|
||||
PX4_WARN("%s\n", reason);
|
||||
}
|
||||
|
||||
PRINT_MODULE_DESCRIPTION(
|
||||
R"DESCR_STR(
|
||||
### Description
|
||||
This module is responsible for generate pwm pulse with PCA9685 chip.
|
||||
|
||||
It listens on the actuator_controls topics, does the mixing and writes the PWM outputs.
|
||||
|
||||
### Implementation
|
||||
This module depends on ModuleBase and OutputModuleInterface.
|
||||
IIC communication is based on CDev::I2C
|
||||
|
||||
### Examples
|
||||
It is typically started with:
|
||||
$ pca9685_pwm_out start -a 64 -b 1
|
||||
|
||||
Use the `mixer` command to load mixer files.
|
||||
`mixer load /dev/pca9685 ROMFS/px4fmu_common/mixers/quad_x.main.mix`
|
||||
)DESCR_STR");
|
||||
|
||||
PRINT_MODULE_USAGE_NAME("pca9685_pwm_out", "driver");
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the task");
|
||||
PRINT_MODULE_USAGE_PARAM_INT('a',64,0,255,"device address on this bus",true);
|
||||
PRINT_MODULE_USAGE_PARAM_INT('b',1,0,255,"bus that pca9685 is connected to",true);
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int PWMDriverWrapper::print_status() {
|
||||
int ret = ModuleBase::print_status();
|
||||
PX4_INFO("PCA9685 @I2C Bus %d, address 0x%.2x, true frequency %.5f",
|
||||
pca9685->get_device_bus(),
|
||||
pca9685->get_device_address(),
|
||||
(double)(pca9685->getFrequency()));
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int PWMDriverWrapper::custom_command(int argc, char **argv) { // only for test use
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
int PWMDriverWrapper::task_spawn(int argc, char **argv) {
|
||||
|
||||
auto *instance = new PWMDriverWrapper();
|
||||
|
||||
if (instance) {
|
||||
_object.store(instance);
|
||||
_task_id = task_id_is_work_queue;
|
||||
|
||||
int ch;
|
||||
int address=PCA9685_DEFAULT_ADDRESS;
|
||||
int iicbus=PCA9685_DEFAULT_IICBUS;
|
||||
|
||||
int myoptind = 1;
|
||||
const char *myoptarg = nullptr;
|
||||
while ((ch = px4_getopt(argc, argv, "a:b:", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'a':
|
||||
address = atoi(myoptarg);
|
||||
break;
|
||||
|
||||
case 'b':
|
||||
iicbus = atoi(myoptarg);
|
||||
break;
|
||||
|
||||
case '?':
|
||||
PX4_WARN("Unsupported args");
|
||||
goto driverInstanceAllocFailed;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
instance->pca9685 = new PCA9685(iicbus, address);
|
||||
if(instance->pca9685==nullptr){
|
||||
PX4_ERR("alloc failed");
|
||||
goto driverInstanceAllocFailed;
|
||||
}
|
||||
|
||||
if (instance->init() == PX4_OK) {
|
||||
return PX4_OK;
|
||||
} else {
|
||||
PX4_ERR("driver init failed");
|
||||
delete instance->pca9685;
|
||||
instance->pca9685=nullptr;
|
||||
}
|
||||
} else {
|
||||
PX4_ERR("alloc failed");
|
||||
}
|
||||
|
||||
driverInstanceAllocFailed:
|
||||
delete instance;
|
||||
_object.store(nullptr);
|
||||
_task_id = -1;
|
||||
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
void PWMDriverWrapper::mixerChanged() {
|
||||
OutputModuleInterface::mixerChanged();
|
||||
if (_mixing_output.mixers()) { // only update trims if mixer loaded
|
||||
updatePWMParamTrim();
|
||||
}
|
||||
if(!_mixing_output.updateSubscriptions(true)) { // change to proper wq
|
||||
ScheduleNow();
|
||||
}
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int pca9685_pwm_out_main(int argc, char *argv[]);
|
||||
|
||||
int pca9685_pwm_out_main(int argc, char *argv[]){
|
||||
return PWMDriverWrapper::main(argc, argv);
|
||||
}
|
||||
Reference in New Issue
Block a user