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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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drivers: rename rpi_pwm_out to linux_pwm_out
This commit is contained in:
Beat Küng
@@ -0,0 +1,478 @@
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/****************************************************************************
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*
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* Copyright (c) 2015-2017 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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#include <stdint.h>
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#include <px4_tasks.h>
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#include <px4_getopt.h>
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#include <px4_posix.h>
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#include <errno.h>
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#include <cmath> // NAN
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#include <uORB/uORB.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/actuator_outputs.h>
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#include <uORB/topics/actuator_armed.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_mixer.h>
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#include <systemlib/mixer/mixer.h>
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#include <systemlib/mixer/mixer_load.h>
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#include <systemlib/param/param.h>
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#include <systemlib/pwm_limit/pwm_limit.h>
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#include "common.h"
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#include "navio_sysfs.h"
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#include "PCA9685.h"
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namespace linux_pwm_out
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{
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static px4_task_t _task_handle = -1;
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volatile bool _task_should_exit = false;
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static bool _is_running = false;
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static char _device[64] = "/sys/class/pwm/pwmchip0";
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static char _protocol[64] = "navio";
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static int _max_mum_outputs = 8; ///< maximum number of outputs the driver should use
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static char _mixer_filename[64] = "ROMFS/px4fmu_common/mixers/quad_x.main.mix";
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// subscriptions
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int _controls_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
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int _armed_sub;
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// publications
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orb_advert_t _outputs_pub = nullptr;
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orb_advert_t _rc_pub = nullptr;
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// topic structures
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actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
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orb_id_t _controls_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
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actuator_outputs_s _outputs;
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actuator_armed_s _armed;
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// polling
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uint8_t _poll_fds_num = 0;
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px4_pollfd_struct_t _poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
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// control groups related
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uint32_t _groups_required = 0;
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uint32_t _groups_subscribed = 0;
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pwm_limit_t _pwm_limit;
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// esc parameters
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int32_t _pwm_disarmed;
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int32_t _pwm_min;
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int32_t _pwm_max;
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MixerGroup *_mixer_group = nullptr;
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void usage();
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void start();
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void stop();
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void task_main_trampoline(int argc, char *argv[]);
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void subscribe();
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void task_main(int argc, char *argv[]);
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/* mixer initialization */
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int initialize_mixer(const char *mixer_filename);
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int mixer_control_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input);
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int mixer_control_callback(uintptr_t handle,
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uint8_t control_group,
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uint8_t control_index,
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float &input)
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{
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const actuator_controls_s *controls = (actuator_controls_s *)handle;
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input = controls[control_group].control[control_index];
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return 0;
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}
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int initialize_mixer(const char *mixer_filename)
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{
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char buf[4096];
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unsigned buflen = sizeof(buf);
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memset(buf, '\0', buflen);
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_mixer_group = new MixerGroup(mixer_control_callback, (uintptr_t) &_controls);
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// PX4_INFO("Trying to initialize mixer from config file %s", mixer_filename);
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if (load_mixer_file(mixer_filename, buf, buflen) == 0) {
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if (_mixer_group->load_from_buf(buf, buflen) == 0) {
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PX4_INFO("Loaded mixer from file %s", mixer_filename);
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return 0;
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} else {
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PX4_ERR("Unable to parse from mixer config file %s", mixer_filename);
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}
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} else {
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PX4_ERR("Unable to load config file %s", mixer_filename);
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}
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if (_mixer_group->count() <= 0) {
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PX4_ERR("Mixer initialization failed");
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return -1;
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}
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return 0;
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}
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void subscribe()
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{
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memset(_controls, 0, sizeof(_controls));
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memset(_poll_fds, 0, sizeof(_poll_fds));
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/* set up ORB topic names */
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_controls_topics[0] = ORB_ID(actuator_controls_0);
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_controls_topics[1] = ORB_ID(actuator_controls_1);
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_controls_topics[2] = ORB_ID(actuator_controls_2);
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_controls_topics[3] = ORB_ID(actuator_controls_3);
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// Subscribe for orb topics
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for (uint8_t i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
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if (_groups_required & (1 << i)) {
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PX4_DEBUG("subscribe to actuator_controls_%d", i);
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_controls_subs[i] = orb_subscribe(_controls_topics[i]);
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} else {
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_controls_subs[i] = -1;
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}
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if (_controls_subs[i] >= 0) {
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_poll_fds[_poll_fds_num].fd = _controls_subs[i];
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_poll_fds[_poll_fds_num].events = POLLIN;
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_poll_fds_num++;
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}
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_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
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}
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}
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void task_main(int argc, char *argv[])
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{
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_is_running = true;
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// Set up mixer
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if (initialize_mixer(_mixer_filename) < 0) {
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PX4_ERR("Mixer initialization failed.");
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return;
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}
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PWMOutBase *pwm_out;
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if (strcmp(_protocol, "pca9685") == 0) {
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PX4_INFO("Starting PWM output in PCA9685 mode");
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pwm_out = new PCA9685();
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} else { // navio
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PX4_INFO("Starting PWM output in Navio mode");
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pwm_out = new NavioSysfsPWMOut(_device, _max_mum_outputs);
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}
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if (pwm_out->init() != 0) {
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PX4_ERR("PWM output init failed");
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delete pwm_out;
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return;
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}
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_mixer_group->groups_required(_groups_required);
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// subscribe and set up polling
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subscribe();
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// Start disarmed
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_armed.armed = false;
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_armed.prearmed = false;
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pwm_limit_init(&_pwm_limit);
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// Main loop
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while (!_task_should_exit) {
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int pret = px4_poll(_poll_fds, _poll_fds_num, 10);
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/* Timed out, do a periodic check for _task_should_exit. */
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if (pret == 0) {
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continue;
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}
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/* This is undesirable but not much we can do. */
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if (pret < 0) {
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PX4_WARN("poll error %d, %d", pret, errno);
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/* sleep a bit before next try */
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usleep(10000);
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continue;
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}
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/* get controls for required topics */
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unsigned poll_id = 0;
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for (uint8_t i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
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if (_controls_subs[i] >= 0) {
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if (_poll_fds[poll_id].revents & POLLIN) {
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orb_copy(_controls_topics[i], _controls_subs[i], &_controls[i]);
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}
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poll_id++;
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}
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}
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if (_mixer_group != nullptr) {
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_outputs.timestamp = hrt_absolute_time();
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/* do mixing */
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_outputs.noutputs = _mixer_group->mix(_outputs.output,
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actuator_outputs_s::NUM_ACTUATOR_OUTPUTS,
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NULL);
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/* disable unused ports by setting their output to NaN */
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for (size_t i = _outputs.noutputs; i < _outputs.NUM_ACTUATOR_OUTPUTS; i++) {
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_outputs.output[i] = NAN;
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}
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const uint16_t reverse_mask = 0;
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uint16_t disarmed_pwm[actuator_outputs_s::NUM_ACTUATOR_OUTPUTS];
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uint16_t min_pwm[actuator_outputs_s::NUM_ACTUATOR_OUTPUTS];
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uint16_t max_pwm[actuator_outputs_s::NUM_ACTUATOR_OUTPUTS];
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for (unsigned int i = 0; i < actuator_outputs_s::NUM_ACTUATOR_OUTPUTS; i++) {
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disarmed_pwm[i] = _pwm_disarmed;
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min_pwm[i] = _pwm_min;
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max_pwm[i] = _pwm_max;
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}
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uint16_t pwm[actuator_outputs_s::NUM_ACTUATOR_OUTPUTS];
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// TODO FIXME: pre-armed seems broken
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pwm_limit_calc(_armed.armed,
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false/*_armed.prearmed*/,
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_outputs.noutputs,
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reverse_mask,
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disarmed_pwm,
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min_pwm,
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max_pwm,
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_outputs.output,
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pwm,
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&_pwm_limit);
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if (_armed.lockdown || _armed.manual_lockdown) {
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pwm_out->send_output_pwm(disarmed_pwm, _outputs.noutputs);
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} else {
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pwm_out->send_output_pwm(pwm, _outputs.noutputs);
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}
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if (_outputs_pub != nullptr) {
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orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &_outputs);
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} else {
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_outputs_pub = orb_advertise(ORB_ID(actuator_outputs), &_outputs);
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}
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} else {
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PX4_ERR("Could not mix output! Exiting...");
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_task_should_exit = true;
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}
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bool updated;
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orb_check(_armed_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
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}
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}
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delete pwm_out;
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for (uint8_t i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
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if (_controls_subs[i] >= 0) {
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orb_unsubscribe(_controls_subs[i]);
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}
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}
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orb_unsubscribe(_armed_sub);
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_is_running = false;
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}
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void task_main_trampoline(int argc, char *argv[])
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{
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task_main(argc, argv);
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}
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void start()
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{
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ASSERT(_task_handle == -1);
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_task_should_exit = false;
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/* start the task */
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_task_handle = px4_task_spawn_cmd("pwm_out_main",
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SCHED_DEFAULT,
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SCHED_PRIORITY_MAX,
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1500,
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(px4_main_t)&task_main_trampoline,
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nullptr);
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if (_task_handle < 0) {
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warn("task start failed");
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return;
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}
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}
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void stop()
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{
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_task_should_exit = true;
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while (_is_running) {
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usleep(200000);
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PX4_INFO(".");
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}
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_task_handle = -1;
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}
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void usage()
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{
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PX4_INFO("usage: pwm_out start [-d pwmdevice] [-m mixerfile] [-p protocol]");
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PX4_INFO(" -d pwmdevice : sysfs device for pwm generation (only for Navio)");
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PX4_INFO(" (default /sys/class/pwm/pwmchip0)");
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PX4_INFO(" -m mixerfile : path to mixerfile");
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PX4_INFO(" (default ROMFS/px4fmu_common/mixers/quad_x.main.mix)");
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PX4_INFO(" -p protocol : driver output protocol (navio|pca9685)");
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PX4_INFO(" (default is navio)");
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PX4_INFO(" -n num_outputs : maximum number of outputs the driver should use");
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PX4_INFO(" (default is 8)");
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PX4_INFO(" pwm_out stop");
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PX4_INFO(" pwm_out status");
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}
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} // namespace linux_pwm_out
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/* driver 'main' command */
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extern "C" __EXPORT int linux_pwm_out_main(int argc, char *argv[]);
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int linux_pwm_out_main(int argc, char *argv[])
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{
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int ch;
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int myoptind = 1;
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const char *myoptarg = nullptr;
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char *verb = nullptr;
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if (argc >= 2) {
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verb = argv[1];
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} else {
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return 1;
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}
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while ((ch = px4_getopt(argc, argv, "d:m:p:n:", &myoptind, &myoptarg)) != EOF) {
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switch (ch) {
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case 'd':
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strncpy(linux_pwm_out::_device, myoptarg, sizeof(linux_pwm_out::_device));
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break;
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case 'm':
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strncpy(linux_pwm_out::_mixer_filename, myoptarg, sizeof(linux_pwm_out::_mixer_filename));
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break;
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case 'p':
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strncpy(linux_pwm_out::_protocol, myoptarg, sizeof(linux_pwm_out::_protocol));
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break;
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case 'n': {
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unsigned long max_num = strtoul(myoptarg, nullptr, 10);
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if (max_num <= 0) {
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max_num = 8;
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}
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if (max_num > actuator_outputs_s::NUM_ACTUATOR_OUTPUTS) {
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max_num = actuator_outputs_s::NUM_ACTUATOR_OUTPUTS;
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}
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linux_pwm_out::_max_mum_outputs = max_num;
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}
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break;
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}
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}
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// gets the parameters for the esc's pwm
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param_get(param_find("PWM_DISARMED"), &linux_pwm_out::_pwm_disarmed);
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param_get(param_find("PWM_MIN"), &linux_pwm_out::_pwm_min);
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param_get(param_find("PWM_MAX"), &linux_pwm_out::_pwm_max);
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/*
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* Start/load the driver.
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*/
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if (!strcmp(verb, "start")) {
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if (linux_pwm_out::_is_running) {
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PX4_WARN("pwm_out already running");
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return 1;
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}
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linux_pwm_out::start();
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}
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else if (!strcmp(verb, "stop")) {
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if (!linux_pwm_out::_is_running) {
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PX4_WARN("pwm_out is not running");
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return 1;
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}
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linux_pwm_out::stop();
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}
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else if (!strcmp(verb, "status")) {
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PX4_WARN("pwm_out is %s", linux_pwm_out::_is_running ? "running" : "not running");
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return 0;
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} else {
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linux_pwm_out::usage();
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return 1;
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}
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return 0;
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}
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