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PX4 System changes to support 14 Timer IO channels

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This commit is contained in:
David Sidrane 2017-05-15 14:33:23 -10:00 committed by Daniel Agar
parent df2b5e420f
commit 444a7a2aec
2 changed files with 79 additions and 13 deletions
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27
src/drivers/drv_pwm_output.h
View File

@ -266,19 +266,20 @@ struct pwm_output_rc_config {
#define PWM_SERVO_SET_SBUS_RATE _PX4_IOC(_PWM_SERVO_BASE, 33)
/** set auxillary output mode. These correspond to enum Mode in px4fmu/fmu.cpp */
#define PWM_SERVO_MODE_NONE 0
#define PWM_SERVO_MODE_1PWM 1
#define PWM_SERVO_MODE_2PWM 2
#define PWM_SERVO_MODE_2PWM2CAP 3
#define PWM_SERVO_MODE_3PWM 4
#define PWM_SERVO_MODE_3PWM1CAP 5
#define PWM_SERVO_MODE_4PWM 6
#define PWM_SERVO_MODE_6PWM 7
#define PWM_SERVO_MODE_8PWM 8
#define PWM_SERVO_MODE_4CAP 9
#define PWM_SERVO_MODE_5CAP 10
#define PWM_SERVO_MODE_6CAP 11
#define PWM_SERVO_SET_MODE _PX4_IOC(_PWM_SERVO_BASE, 34)
#define PWM_SERVO_MODE_NONE 0
#define PWM_SERVO_MODE_1PWM 1
#define PWM_SERVO_MODE_2PWM 2
#define PWM_SERVO_MODE_2PWM2CAP 3
#define PWM_SERVO_MODE_3PWM 4
#define PWM_SERVO_MODE_3PWM1CAP 5
#define PWM_SERVO_MODE_4PWM 6
#define PWM_SERVO_MODE_6PWM 7
#define PWM_SERVO_MODE_8PWM 8
#define PWM_SERVO_MODE_14PWM 9
#define PWM_SERVO_MODE_4CAP 10
#define PWM_SERVO_MODE_5CAP 11
#define PWM_SERVO_MODE_6CAP 12
#define PWM_SERVO_SET_MODE _PX4_IOC(_PWM_SERVO_BASE, 34)
/*
*

65
src/drivers/px4fmu/fmu.cpp
View File

@ -134,6 +134,7 @@ public:
MODE_4PWM,
MODE_6PWM,
MODE_8PWM,
MODE_14PWM,
MODE_4CAP,
MODE_5CAP,
MODE_6CAP,
@ -727,6 +728,21 @@ PX4FMU::set_mode(Mode mode)
break;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14
case MODE_14PWM:
DEVICE_DEBUG("MODE_14PWM");
/* default output rates */
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
_pwm_alt_rate_channels = 0;
_pwm_mask = 0x3fff;
_pwm_initialized = false;
_num_outputs = 14;
break;
#endif
case MODE_NONE:
DEVICE_DEBUG("MODE_NONE");
@ -1838,6 +1854,9 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
case MODE_8PWM:
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14
case MODE_14PWM:
#endif
ret = pwm_ioctl(filp, cmd, arg);
break;
@ -2136,6 +2155,20 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
break;
}
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14
case PWM_SERVO_SET(13):
case PWM_SERVO_SET(12):
case PWM_SERVO_SET(11):
case PWM_SERVO_SET(10):
case PWM_SERVO_SET(9):
case PWM_SERVO_SET(8):
if (_mode < MODE_14PWM) {
ret = -EINVAL;
break;
}
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
case PWM_SERVO_SET(7):
@ -2189,6 +2222,20 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
break;
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14
case PWM_SERVO_GET(13):
case PWM_SERVO_GET(12):
case PWM_SERVO_GET(11):
case PWM_SERVO_GET(10):
case PWM_SERVO_GET(9):
case PWM_SERVO_GET(8):
if (_mode < MODE_14PWM) {
ret = -EINVAL;
break;
}
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
/* FALLTHROUGH */
@ -2244,6 +2291,14 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
case PWM_SERVO_GET_RATEGROUP(6):
case PWM_SERVO_GET_RATEGROUP(7):
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14
case PWM_SERVO_GET_RATEGROUP(8):
case PWM_SERVO_GET_RATEGROUP(9):
case PWM_SERVO_GET_RATEGROUP(10):
case PWM_SERVO_GET_RATEGROUP(11):
case PWM_SERVO_GET_RATEGROUP(12):
case PWM_SERVO_GET_RATEGROUP(13):
#endif
*(uint32_t *)arg = up_pwm_servo_get_rate_group(cmd - PWM_SERVO_GET_RATEGROUP(0));
break;
@ -2252,6 +2307,13 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
case MIXERIOCGETOUTPUTCOUNT:
switch (_mode) {
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14
case MODE_14PWM:
*(unsigned *)arg = 14;
break;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
case MODE_8PWM:
@ -2896,6 +2958,9 @@ PX4FMU::fmu_new_mode(PortMode new_mode)
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 8
servo_mode = PX4FMU::MODE_8PWM;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 14
servo_mode = PX4FMU::MODE_14PWM;
#endif
break;