Merge branch 'main' into pr-dual-atmos

2026-10-08 08:58:52 +08:00 · 2025-12-12 11:56:48 -08:00
parent a430de9073 b92d21bd31
commit 553bbd5014
22 changed files with 148 additions and 8 deletions
@@ -40,6 +40,7 @@ CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_COMMON_RC=y
@@ -97,5 +97,11 @@ bmm150 -I start
 # Internal Baro on I2C
 bmp388 -I start

+# Start an external PWM generator
+if param greater PCA9685_EN_BUS 0
+then
+	pca9685_pwm_out start
+fi
+
 unset HAVE_PM2
 unset HAVE_PM3
@@ -21,6 +21,7 @@ CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
 CONFIG_DRIVERS_UAVCAN=y
@@ -16,3 +16,9 @@ iis2mdc -R 0 -I -b 4 start

 # Internal Baro on I2C
 bmp388 -I -b 2 start
+
+# Start an external PWM generator
+if param greater PCA9685_EN_BUS 0
+then
+	pca9685_pwm_out start
+fi
@@ -19,6 +19,7 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA=y
 CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
@@ -34,3 +34,9 @@ paw3902 -s -b 3 start -Y 90

 # Internal distance sensor
 afbrs50 start
+
+# Start an external PWM generator
+if param greater PCA9685_EN_BUS 0
+then
+	pca9685_pwm_out start
+fi
@@ -74,5 +74,5 @@ ist8310 -X -b 1 -R 10 start
 # Start an external PWM generator
 if param greater PCA9685_EN_BUS 0
 then
-	pca9685_pwm_out start -b 1
+	pca9685_pwm_out start
 fi
@@ -11,3 +11,7 @@ param set BAT1_V_DIV 5.7

 # Always keep current config
 param set SYS_AUTOCONFIG 0
+
+# PCA9685 PWM Out defaults
+param set-default PCA9685_EN_BUS 4
+param set-default PCA9685_I2C_ADDR 64
@@ -28,7 +28,7 @@ then
 	echo "ads1115 not found."
 fi

-if ! pca9685_pwm_out start -a 0x40 -b 4
+if ! pca9685_pwm_out start
 then
 	echo "pca9685_pwm_out not found."
 fi
@@ -486,6 +486,16 @@ The integer refers to the I2C bus number where PCA9685 is connected.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 | &nbsp; | 0        | 10       |           | 0       |

+### PCA9685_I2C_ADDR (`INT32`) {#PCA9685_I2C_ADDR}
+
+I2C address of PCA9685.
+
+The default address is 0x40 (64).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+| &nbsp; | 0        | 127      |           | 64      |
+
 ### PCA9685_FAIL1 (`INT32`) {#PCA9685_FAIL1}

 PCA9685 Output Channel 1 Failsafe Value.
@@ -899,6 +899,8 @@ fetching the latest mixing result and write them to PCA9685 at its scheduling ti
 It can do full 12bits output as duty-cycle mode, while also able to output precious pulse width
 that can be accepted by most ESCs and servos.

+The I2C bus and address can be configured via parameters `PCA9685_EN_BUS` and `PCA9685_I2C_ADDR`, or via command line arguments.
+
 ### Examples

 It is typically started with:
@@ -74,6 +74,11 @@ ssize_t Serial::bytesAvailable()
 	return _impl.bytesAvailable();
 }

+ssize_t Serial::txSpaceAvailable()
+{
+	return _impl.txSpaceAvailable();
+}
+
 ssize_t Serial::read(uint8_t *buffer, size_t buffer_size)
 {
 	return _impl.read(buffer, buffer_size);
@@ -62,6 +62,7 @@ public:
 	bool close();

 	ssize_t bytesAvailable();
+	ssize_t txSpaceAvailable();
 	ssize_t read(uint8_t *buffer, size_t buffer_size);
 	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_ms = 0);

@@ -293,12 +293,36 @@ ssize_t SerialImpl::bytesAvailable()
 {
 	if (!_open) {
 		PX4_ERR("Device not open!");
+		errno = EBADF;
 		return -1;
 	}

 	ssize_t bytes_available = 0;
 	int ret = ioctl(_serial_fd, FIONREAD, &bytes_available);
-	return ret >= 0 ? bytes_available : 0;
+
+	if (ret < 0) {
+		return -1;
+	}
+
+	return bytes_available;
+}
+
+ssize_t SerialImpl::txSpaceAvailable()
+{
+	if (!_open) {
+		PX4_ERR("Device not open!");
+		errno = EBADF;
+		return -1;
+	}
+
+	ssize_t space_available = 0;
+	int ret = ioctl(_serial_fd, FIONSPACE, &space_available);
+
+	if (ret < 0) {
+		return -1;
+	}
+
+	return space_available;
 }

 ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
@@ -60,6 +60,7 @@ public:
 	bool close();

 	ssize_t bytesAvailable();
+	ssize_t txSpaceAvailable();
 	ssize_t read(uint8_t *buffer, size_t buffer_size);
 	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);

@@ -60,6 +60,7 @@ public:
 	bool close();

 	ssize_t bytesAvailable();
+	ssize_t txSpaceAvailable();
 	ssize_t read(uint8_t *buffer, size_t buffer_size);
 	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);

@@ -281,12 +281,31 @@ ssize_t SerialImpl::bytesAvailable()
 {
 	if (!_open) {
 		PX4_ERR("Device not open!");
+		errno = EBADF;
 		return -1;
 	}

 	ssize_t bytes_available = 0;
 	int ret = ioctl(_serial_fd, FIONREAD, &bytes_available);
-	return ret >= 0 ? bytes_available : 0;
+
+	if (ret < 0) {
+		return -1;
+	}
+
+	return bytes_available;
+}
+
+ssize_t SerialImpl::txSpaceAvailable()
+{
+	if (!_open) {
+		PX4_ERR("Device not open!");
+		errno = EBADF;
+		return -1;
+	}
+
+	// POSIX/Linux doesn't have a direct equivalent to NuttX's FIONSPACE
+	errno = ENOSYS;
+	return -1;
 }

 ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
@@ -59,6 +59,7 @@ public:
 	bool close();

 	ssize_t bytesAvailable();
+	ssize_t txSpaceAvailable();
 	ssize_t read(uint8_t *buffer, size_t buffer_size);
 	ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0);

@@ -156,14 +156,33 @@ ssize_t SerialImpl::bytesAvailable()
 {
 	if (!_open) {
 		PX4_ERR("Device not open!");
+		errno = EBADF;
 		return -1;
 	}

 	uint32_t rx_bytes = 0;
-	(void) fc_uart_rx_available(_serial_fd, &rx_bytes);
+	int ret = fc_uart_rx_available(_serial_fd, &rx_bytes);
+
+	if (ret < 0) {
+		return -1;
+	}
+
 	return (ssize_t) rx_bytes;
 }

+ssize_t SerialImpl::txSpaceAvailable()
+{
+	if (!_open) {
+		PX4_ERR("Device not open!");
+		errno = EBADF;
+		return -1;
+	}
+
+	// QURT doesn't have a direct equivalent to NuttX's FIONSPACE
+	errno = ENOSYS;
+	return -1;
+}
+
 ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size)
 {
 	if (!_open) {
@@ -47,6 +47,7 @@
 #include <drivers/drv_hrt.h>
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/sem.hpp>
+#include <lib/parameters/param.h>

 #include "PCA9685.h"

@@ -356,8 +357,30 @@ int PCA9685Wrapper::custom_command(int argc, char **argv) {

 int PCA9685Wrapper::task_spawn(int argc, char **argv) {
 	int ch;
-	int address=PCA9685_DEFAULT_ADDRESS;
-	int iicbus=PCA9685_DEFAULT_IICBUS;
+	int address = PCA9685_DEFAULT_ADDRESS;
+	int iicbus = PCA9685_DEFAULT_IICBUS;
+
+	int32_t en_bus = 0;
+	param_t param_handle = param_find("PCA9685_EN_BUS");
+
+	if (param_handle != PARAM_INVALID) {
+		param_get(param_handle, &en_bus);
+
+		if (en_bus > 0) {
+			iicbus = en_bus;
+		}
+	}
+
+	int32_t i2c_addr = 0;
+	param_handle = param_find("PCA9685_I2C_ADDR");
+
+	if (param_handle != PARAM_INVALID) {
+		param_get(param_handle, &i2c_addr);
+
+		if (i2c_addr > 0) {
+			address = i2c_addr;
+		}
+	}

 	int myoptind = 1;
 	const char *myoptarg = nullptr;
@@ -29,6 +29,16 @@ parameters:
        min: 0
        max: 10
        default: 0
+      PCA9685_I2C_ADDR:
+        description:
+          short: I2C address of PCA9685
+          long: |
+            I2C address of PCA9685.
+            The default address is 0x40 (64).
+        type: int32
+        min: 1
+        max: 127
+        default: 64
      PCA9685_SCHD_HZ:
        description:
          short: PWM update rate
@@ -105,7 +105,6 @@ EscBattery::Run()
 		}

 		average_voltage_v /= online_esc_count;
-		total_current_a /= online_esc_count;
 		average_temperature_c /= online_esc_count;

 		_battery.setConnected(true);