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linux_pwm_out: move protocols to board-specific directories

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This also removes the pca9685 output, which was unused, and there's also
pca9685_pwm_out.
This commit is contained in:
Beat Küng
2021-02-25 07:28:04 +01:00
committed by Daniel Agar
parent b0a5d431d3
commit 439fb00aed
18 changed files with 63 additions and 422 deletions
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src/drivers/linux_pwm_out/linux_pwm_out.cpp
+19 -56
View File
@@ -58,22 +58,16 @@
#include <output_limit/output_limit.h>
#include <perf/perf_counter.h>
#include "common.h"
#include "navio_sysfs.h"
#include "PCA9685.h"
#include "ocpoc_mmap.h"
#include "bbblue_pwm_rc.h"
#include <board_pwm_out.h>
using namespace time_literals;
namespace linux_pwm_out
namespace pwm_out
{
static px4_task_t _task_handle = -1;
volatile bool _task_should_exit = false;
static bool _is_running = false;
static char _device[64] = "/sys/class/pwm/pwmchip0";
static char _protocol[64] = "navio";
static int _max_num_outputs = 8; ///< maximum number of outputs the driver should use
static char _mixer_filename[64] = "etc/mixers/quad_x.main.mix";
@@ -228,27 +222,7 @@ void task_main(int argc, char *argv[])
return;
}
PWMOutBase *pwm_out;
if (strcmp(_protocol, "pca9685") == 0) {
PX4_INFO("Starting PWM output in PCA9685 mode");
pwm_out = new PCA9685();
} else if (strcmp(_protocol, "ocpoc_mmap") == 0) {
PX4_INFO("Starting PWM output in ocpoc_mmap mode");
pwm_out = new OcpocMmapPWMOut(_max_num_outputs);
#ifdef CONFIG_ARCH_BOARD_BEAGLEBONE_BLUE
} else if (strcmp(_protocol, "bbblue_rc") == 0) {
PX4_INFO("Starting PWM output in bbblue_rc mode");
pwm_out = new BBBlueRcPWMOut(_max_num_outputs);
#endif
} else { /* navio */
PX4_INFO("Starting PWM output in Navio mode");
pwm_out = new NavioSysfsPWMOut(_device, _max_num_outputs);
}
PWMOutBase *pwm_out = new BOARD_PWM_OUT_IMPL(_max_num_outputs);
if (pwm_out->init() != 0) {
PX4_ERR("PWM output init failed");
@@ -494,20 +468,16 @@ void stop()
void usage()
{
PX4_INFO("usage: pwm_out start [-d pwmdevice] [-m mixerfile] [-p protocol]");
PX4_INFO(" -d pwmdevice : sysfs device for pwm generation (only for Navio)");
PX4_INFO(" (default /sys/class/pwm/pwmchip0)");
PX4_INFO("usage: linux_pwm_out start [-m mixerfile]");
PX4_INFO(" -m mixerfile : path to mixerfile");
PX4_INFO(" (default etc/mixers/quad_x.main.mix)");
PX4_INFO(" -p protocol : driver output protocol (navio|pca9685|ocpoc_mmap|bbblue_rc)");
PX4_INFO(" (default is navio)");
PX4_INFO(" -n num_outputs : maximum number of outputs the driver should use");
PX4_INFO(" (default is 8)");
PX4_INFO(" pwm_out stop");
PX4_INFO(" pwm_out status");
PX4_INFO(" linux_pwm_out stop");
PX4_INFO(" linux_pwm_out status");
}
} // namespace linux_pwm_out
} // namespace pwm_out
/* driver 'main' command */
extern "C" __EXPORT int linux_pwm_out_main(int argc, char *argv[]);
@@ -527,18 +497,11 @@ int linux_pwm_out_main(int argc, char *argv[])
return 1;
}
while ((ch = px4_getopt(argc, argv, "d:m:p:n:", &myoptind, &myoptarg)) != EOF) {
while ((ch = px4_getopt(argc, argv, "m:n:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'd':
strncpy(linux_pwm_out::_device, myoptarg, sizeof(linux_pwm_out::_device) - 1);
break;
case 'm':
strncpy(linux_pwm_out::_mixer_filename, myoptarg, sizeof(linux_pwm_out::_mixer_filename) - 1);
break;
case 'p':
strncpy(linux_pwm_out::_protocol, myoptarg, sizeof(linux_pwm_out::_protocol) - 1);
strncpy(pwm_out::_mixer_filename, myoptarg, sizeof(pwm_out::_mixer_filename) - 1);
break;
case 'n': {
@@ -552,44 +515,44 @@ int linux_pwm_out_main(int argc, char *argv[])
max_num = actuator_outputs_s::NUM_ACTUATOR_OUTPUTS;
}
linux_pwm_out::_max_num_outputs = max_num;
pwm_out::_max_num_outputs = max_num;
}
break;
}
}
/** gets the parameters for the esc's pwm */
param_get(param_find("PWM_MAIN_DISARM"), &linux_pwm_out::_pwm_disarmed);
param_get(param_find("PWM_MAIN_MIN"), &linux_pwm_out::_pwm_min);
param_get(param_find("PWM_MAIN_MAX"), &linux_pwm_out::_pwm_max);
param_get(param_find("PWM_MAIN_DISARM"), &pwm_out::_pwm_disarmed);
param_get(param_find("PWM_MAIN_MIN"), &pwm_out::_pwm_min);
param_get(param_find("PWM_MAIN_MAX"), &pwm_out::_pwm_max);
/*
* Start/load the driver.
*/
if (!strcmp(verb, "start")) {
if (linux_pwm_out::_is_running) {
if (pwm_out::_is_running) {
PX4_WARN("pwm_out already running");
return 1;
}
linux_pwm_out::start();
pwm_out::start();
}
else if (!strcmp(verb, "stop")) {
if (!linux_pwm_out::_is_running) {
if (!pwm_out::_is_running) {
PX4_WARN("pwm_out is not running");
return 1;
}
linux_pwm_out::stop();
pwm_out::stop();
}
else if (!strcmp(verb, "status")) {
PX4_WARN("pwm_out is %s", linux_pwm_out::_is_running ? "running" : "not running");
PX4_WARN("pwm_out is %s", pwm_out::_is_running ? "running" : "not running");
return 0;
} else {
linux_pwm_out::usage();
pwm_out::usage();
return 1;
}