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linux_pwm_out: move protocols to board-specific directories

Browse Source 
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
boards/aerotenna/ocpoc/src/CMakeLists.txt
View File

@ -32,6 +32,7 @@
############################################################################
add_library(drivers_board
board_pwm_out.cpp
i2c.cpp
spi.cpp
)

8
src/drivers/linux_pwm_out/ocpoc_mmap.cpp → boards/aerotenna/ocpoc/src/board_pwm_out.cpp
View File

@ -31,7 +31,11 @@
*
****************************************************************************/
#include "ocpoc_mmap.h"
#ifndef MODULE_NAME
#define MODULE_NAME "ocpoc_pwm_out"
#endif
#include "board_pwm_out.h"
#include <px4_platform_common/log.h>
@ -39,7 +43,7 @@
#include <sys/mman.h>
#include <unistd.h>
using namespace linux_pwm_out;
using namespace pwm_out;
#define RCOUT_ZYNQ_PWM_BASE 0x43c00000
static const int TICK_PER_US = 50;

6
src/drivers/linux_pwm_out/ocpoc_mmap.h → boards/aerotenna/ocpoc/src/board_pwm_out.h
View File

@ -33,9 +33,11 @@
#pragma once
#include "common.h"
#include <px4_platform/pwm_out_base.h>
namespace linux_pwm_out
#define BOARD_PWM_OUT_IMPL OcpocMmapPWMOut
namespace pwm_out
{
/**

1
boards/beaglebone/blue/src/CMakeLists.txt
View File

@ -32,6 +32,7 @@
############################################################################
px4_add_library(drivers_board
board_pwm_out.cpp
i2c.cpp
init.cpp
spi.cpp

10
src/drivers/linux_pwm_out/bbblue_pwm_rc.cpp → boards/beaglebone/blue/src/board_pwm_out.cpp
View File

@ -30,7 +30,10 @@
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifdef CONFIG_ARCH_BOARD_BEAGLEBONE_BLUE
#ifndef MODULE_NAME
#define MODULE_NAME "bbblue_pwm_out"
#endif
#include <fcntl.h>
#include <errno.h>
@ -39,9 +42,9 @@
#include <robotcontrol.h>
#include <board_config.h>
#include "bbblue_pwm_rc.h"
#include "board_pwm_out.h"
using namespace linux_pwm_out;
using namespace pwm_out;
BBBlueRcPWMOut::BBBlueRcPWMOut(int max_num_outputs) : _num_outputs(max_num_outputs)
{
@ -79,4 +82,3 @@ int BBBlueRcPWMOut::send_output_pwm(const uint16_t *pwm, int num_outputs)
return ret;
}
#endif // CONFIG_ARCH_BOARD_BEAGLEBONE_BLUE

6
src/drivers/linux_pwm_out/bbblue_pwm_rc.h → boards/beaglebone/blue/src/board_pwm_out.h
View File

@ -33,9 +33,11 @@
#pragma once
#include "common.h"
#include <px4_platform/pwm_out_base.h>
namespace linux_pwm_out
#define BOARD_PWM_OUT_IMPL BBBlueRcPWMOut
namespace pwm_out
{
/**

1
boards/emlid/navio2/src/CMakeLists.txt
View File

@ -32,6 +32,7 @@
############################################################################
add_library(drivers_board
board_pwm_out.cpp
i2c.cpp
spi.cpp
)

12
src/drivers/linux_pwm_out/navio_sysfs.cpp → boards/emlid/navio2/src/board_pwm_out.cpp
View File

@ -30,18 +30,22 @@
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef MODULE_NAME
#define MODULE_NAME "navio_sysfs_pwm_out"
#endif
#include "navio_sysfs.h"
#include "board_pwm_out.h"
#include <fcntl.h>
#include <errno.h>
#include <unistd.h>
#include <px4_platform_common/log.h>
using namespace linux_pwm_out;
using namespace pwm_out;
NavioSysfsPWMOut::NavioSysfsPWMOut(const char *device, int max_num_outputs)
: _device(device)
const char NavioSysfsPWMOut::_device[] = "/sys/class/pwm/pwmchip0";
NavioSysfsPWMOut::NavioSysfsPWMOut(int max_num_outputs)
{
if (max_num_outputs > MAX_NUM_PWM) {
PX4_WARN("number of outputs too large. Setting to %i", MAX_NUM_PWM);

10
src/drivers/linux_pwm_out/navio_sysfs.h → boards/emlid/navio2/src/board_pwm_out.h
View File

@ -33,9 +33,11 @@
#pragma once
#include "common.h"
#include <px4_platform/pwm_out_base.h>
namespace linux_pwm_out
#define BOARD_PWM_OUT_IMPL NavioSysfsPWMOut
namespace pwm_out
{
/**
@ -45,7 +47,7 @@ namespace linux_pwm_out
class NavioSysfsPWMOut : public PWMOutBase
{
public:
NavioSysfsPWMOut(const char *device, int max_num_outputs);
NavioSysfsPWMOut(int max_num_outputs);
virtual ~NavioSysfsPWMOut();
int init() override;
@ -61,7 +63,7 @@ private:
int _pwm_fd[MAX_NUM_PWM];
int _pwm_num;
const char *_device;
static const char _device[];
};
}

1
boards/px4/raspberrypi/default.cmake
View File

@ -23,7 +23,6 @@ px4_add_board(
gps
#imu # all available imu drivers
imu/invensense/mpu9250
linux_pwm_out
#magnetometer # all available magnetometer drivers
magnetometer/hmc5883
pca9685_pwm_out

4
src/drivers/linux_pwm_out/common.h → platforms/posix/src/px4/common/include/px4_platform/pwm_out_base.h
View File

@ -35,7 +35,7 @@
#include <stdint.h>
namespace linux_pwm_out
namespace pwm_out
{
/**
@ -54,4 +54,4 @@ public:
};
} /* namespace rpi_pwm_out */
} /* namespace pwm_out */

4
posix-configs/bbblue/px4.config
View File

@ -83,8 +83,8 @@ sleep 1
#rc_input start -d /dev/ttyS4
# default: etc/mixers/quad_x.main.mix, 8 output channels
linux_pwm_out start -p bbblue_rc -m etc/mixers/quad_x.main.mix
#linux_pwm_out start -p bbblue_rc -m etc/mixers/AETRFG.main.mix
linux_pwm_out start -m etc/mixers/quad_x.main.mix
#linux_pwm_out start -m etc/mixers/AETRFG.main.mix
logger start -t -b 200

4
posix-configs/bbblue/px4_fw.config
View File

@ -78,8 +78,8 @@ sleep 1
rc_input start -d /dev/ttyS4
# default: etc/mixers/quad_x.main.mix, 8 output channels
#linux_pwm_out start -p bbblue_rc -m etc/mixers/quad_x.main.mix
linux_pwm_out start -p bbblue_rc -m etc/mixers/AETRFG.main.mix
#linux_pwm_out start -m etc/mixers/quad_x.main.mix
linux_pwm_out start -m etc/mixers/AETRFG.main.mix
logger start -t -b 200

2
posix-configs/ocpoc/px4.config
View File

@ -45,6 +45,6 @@ mavlink stream -d /dev/ttyPS1 -s ATTITUDE -r 50
rc_input start -d /dev/ttyS2
linux_pwm_out start -p ocpoc_mmap -m etc/mixers/quad_x.main.mix
linux_pwm_out start -m etc/mixers/quad_x.main.mix
logger start -t -b 200
mavlink boot_complete

4
src/drivers/linux_pwm_out/CMakeLists.txt
View File

@ -36,11 +36,7 @@ px4_add_module(
MAIN linux_pwm_out
COMPILE_FLAGS
SRCS
PCA9685.cpp
navio_sysfs.cpp
linux_pwm_out.cpp
ocpoc_mmap.cpp
bbblue_pwm_rc.cpp
DEPENDS
output_limit
)

193
src/drivers/linux_pwm_out/PCA9685.cpp
View File

@ -1,193 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2017 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.
*
*
* Original Author : Georgi Todorov
* Edited by : Tord Wessman
* Created on : Nov 22, 2013
* Rewrite : Fan.zhang 421395590@qq.com
* Updated on : Mar 2, 2017
****************************************************************************/
#include <sys/stat.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <linux/i2c-dev.h>
#include <stdio.h> /* Standard I/O functions */
#include <fcntl.h>
#include <inttypes.h>
#include <errno.h>
#include <math.h>
#include <stdio.h>
#include <unistd.h>
#include "PCA9685.h"
#include <px4_platform_common/log.h>
using namespace linux_pwm_out;
int PCA9685::init(int bus, int address)
{
_fd = open_fd(bus, address);
reset();
usleep(1000 * 100);
/* 12BIT 精度输出下，好赢电调可以到200HZ刷新 */
/* 200HZ for 12bit Resolution, supported by most of the esc's */
setPWMFreq(200);
usleep(1000 * 1000);
return 0;
}
int PCA9685::send_output_pwm(const uint16_t *pwm, int num_outputs)
{
if (num_outputs > 16) {
num_outputs = 16;
}
for (int i = 0; i < num_outputs; ++i) {
setPWM(i, pwm[i]);
}
return 0;
}
PCA9685::PCA9685()
{
init(PCA9685_DEFAULT_I2C_BUS, PCA9685_DEFAULT_I2C_ADDR);
}
PCA9685::PCA9685(int bus, int address)
{
init(bus, address);
}
PCA9685::~PCA9685()
{
reset();
if (_fd >= 0) {
close(_fd);
}
}
void PCA9685::reset()
{
if (_fd != -1) {
write_byte(_fd, MODE1, 0x00); //Normal mode
write_byte(_fd, MODE2, 0x04); //Normal mode
}
}
void PCA9685::setPWMFreq(int freq)
{
if (_fd != -1) {
uint8_t prescale = (CLOCK_FREQ / MAX_PWM_RES / freq) - 1;
//printf ("Setting prescale value to: %d\n", prescale);
//printf ("Using Frequency: %d\n", freq);
uint8_t oldmode = read_byte(_fd, MODE1);
uint8_t newmode = (oldmode & 0x7F) | 0x10; //sleep
write_byte(_fd, MODE1, newmode); // go to sleep
write_byte(_fd, PRE_SCALE, prescale);
write_byte(_fd, MODE1, oldmode);
usleep(10 * 1000);
write_byte(_fd, MODE1, oldmode | 0x80);
}
}
void PCA9685::setPWM(uint8_t led, int value)
{
setPWM(led, 0, value);
}
void PCA9685::setPWM(uint8_t led, int on_value, int off_value)
{
if (_fd != -1) {
write_byte(_fd, LED0_ON_L + LED_MULTIPLYER * led, on_value & 0xFF);
write_byte(_fd, LED0_ON_H + LED_MULTIPLYER * led, on_value >> 8);
write_byte(_fd, LED0_OFF_L + LED_MULTIPLYER * led, off_value & 0xFF);
write_byte(_fd, LED0_OFF_H + LED_MULTIPLYER * led, off_value >> 8);
}
}
uint8_t PCA9685::read_byte(int fd, uint8_t address)
{
uint8_t buf[1];
buf[0] = address;
if (write(fd, buf, 1) != 1) {
return -1;
}
if (read(fd, buf, 1) != 1) {
return -1;
}
return buf[0];
}
void PCA9685::write_byte(int fd, uint8_t address, uint8_t data)
{
uint8_t buf[2];
buf[0] = address;
buf[1] = data;
if (write(fd, buf, sizeof(buf)) != sizeof(buf)) {
PX4_ERR("Write failed (%i)", errno);
}
}
int PCA9685::open_fd(int bus, int address)
{
int fd;
char bus_file[64];
snprintf(bus_file, sizeof(bus_file), "/dev/i2c-%d", bus);
if ((fd = open(bus_file, O_RDWR)) < 0) {
PX4_ERR("Couldn't open I2C Bus %d [open_fd():open %d]", bus, errno);
return -1;
}
if (ioctl(fd, I2C_SLAVE, address) < 0) {
PX4_ERR("I2C slave %d failed [open_fd():ioctl %d]", address, errno);
return -1;
}
return fd;
}

143
src/drivers/linux_pwm_out/PCA9685.h
View File

@ -1,143 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2017 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.
*
*
* Original Author : Georgi Todorov
* Edited by : Tord Wessman
* Created on : Nov 22, 2013
* Rewrite : Fan.zhang 421395590@qq.com
* Updated on : Mar 2, 2017
****************************************************************************/
#pragma once
#include <inttypes.h>
#include "common.h"
namespace linux_pwm_out
{
// Register Definitions
// 寄存器定义
#define MODE1 0x00 //Mode register 1
#define MODE2 0x01 //Mode register 2
#define SUBADR1 0x02 //I2C-bus subaddress 1
#define SUBADR2 0x03 //I2C-bus subaddress 2
#define SUBADR3 0x04 //I2C-bus subaddress 3
#define ALLCALLADR 0x05 //LED All Call I2C-bus address
#define LED0 0x6 //LED0 start register
#define LED0_ON_L 0x6 //LED0 output and brightness control byte 0
#define LED0_ON_H 0x7 //LED0 output and brightness control byte 1
#define LED0_OFF_L 0x8 //LED0 output and brightness control byte 2
#define LED0_OFF_H 0x9 //LED0 output and brightness control byte 3
#define LED_MULTIPLYER 4 // For the other 15 channels
#define ALLLED_ON_L 0xFA //load all the LEDn_ON registers, byte 0 (turn 0-7 channels on)
#define ALLLED_ON_H 0xFB //load all the LEDn_ON registers, byte 1 (turn 8-15 channels on)
#define ALLLED_OFF_L 0xFC //load all the LEDn_OFF registers, byte 0 (turn 0-7 channels off)
#define ALLLED_OFF_H 0xFD //load all the LEDn_OFF registers, byte 1 (turn 8-15 channels off)
#define PRE_SCALE 0xFE //prescaler for output frequency
#define MAX_PWM_RES 4096 //Resolution 4096=12bit 分辨率，按2的阶乘计算，12bit为4096
#define CLOCK_FREQ 25000000.0 //25MHz default osc clock
#define PCA9685_DEFAULT_I2C_ADDR 0x40 // default i2c address for pca9685 默认i2c地址为0x40
#define PCA9685_DEFAULT_I2C_BUS 1 // default i2c bus for pca9685 默认为1
//! Main class that exports features for PCA9685 chip
class PCA9685 : public PWMOutBase
{
public:
PCA9685();
/**
* Constructor takes bus and address arguments
* @param bus the bus to use in /dev/i2c-%d.
* @param address the device address on bus
*/
PCA9685(int bus, int address);
int init() override { return _fd >= 0 ? 0 : -1; }
int send_output_pwm(const uint16_t *pwm, int num_outputs) override;
int init(int bus, int address);
virtual ~PCA9685();
/** Sets PCA9685 mode to 00 */
void reset();
/**
* Set the frequency of PWM
* @param freq desired frequency. 40Hz to 1000Hz using internal 25MHz oscillator.
*/
void setPWMFreq(int freq);
/**
* PWM a single channel with custom on time.
* send pwm vale to led(channel)
* @param channel
* @param on_value 0-4095 value to turn on the pulse
* @param off_value 0-4095 value to turn off the pulse
*/
void setPWM(uint8_t channel, int on_value, int off_value);
/**
* send pwm value to led(channel),
* value should be range of 0-4095
*/
void setPWM(uint8_t channel, int value);
private:
int _fd = -1; ///< I2C device file descriptor
/**
* Read a single byte from PCA9685
* @param fd file descriptor for I/O
* @param address register address to read from
* @return read byte
*/
uint8_t read_byte(int fd, uint8_t address);
/**
* Write a single byte to PCA9685
* @param fd file descriptor for I/O
* @param address register address to write to
* @param data 8 bit data to write
*/
void write_byte(int fd, uint8_t address, uint8_t data);
/**
* Open device file for PCA9685 I2C bus
* @return fd returns the file descriptor number or -1 on error
*/
int open_fd(int bus, int address);
};
}

75
src/drivers/linux_pwm_out/linux_pwm_out.cpp
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;
}