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delete lib/mixer and mixer_module static mixing

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This commit is contained in:
Daniel Agar
2022-09-09 09:14:09 -04:00
parent 0019ffbea6
commit a7bbcd5b04
79 changed files with 219 additions and 6835 deletions
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src/drivers/linux_pwm_out/linux_pwm_out.cpp
+2 -188
View File
@@ -41,22 +41,14 @@
using namespace pwm_out;
LinuxPWMOut::LinuxPWMOut() :
CDev("/dev/pwm_out"),
OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default),
_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": interval"))
{
if (!_mixing_output.useDynamicMixing()) {
_mixing_output.setAllMinValues(PWM_DEFAULT_MIN);
_mixing_output.setAllMaxValues(PWM_DEFAULT_MAX);
}
}
LinuxPWMOut::~LinuxPWMOut()
{
/* clean up the alternate device node */
unregister_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH, _class_instance);
perf_free(_cycle_perf);
perf_free(_interval_perf);
delete _pwm_out;
@@ -64,21 +56,9 @@ LinuxPWMOut::~LinuxPWMOut()
int LinuxPWMOut::init()
{
/* do regular cdev init */
int ret = CDev::init();
if (ret != OK) {
return ret;
}
/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
_class_instance = register_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH);
_mixing_output.setDriverInstance(_class_instance);
_pwm_out = new BOARD_PWM_OUT_IMPL(MAX_ACTUATORS);
ret = _pwm_out->init();
int ret = _pwm_out->init();
if (ret != 0) {
PX4_ERR("PWM output init failed");
@@ -87,8 +67,6 @@ int LinuxPWMOut::init()
return ret;
}
update_params();
ScheduleNow();
return ret;
@@ -134,8 +112,6 @@ void LinuxPWMOut::Run()
return;
}
SmartLock lock_guard(_lock);
perf_begin(_cycle_perf);
perf_count(_interval_perf);
@@ -148,7 +124,7 @@ void LinuxPWMOut::Run()
_parameter_update_sub.copy(&pupdate);
// update parameters from storage
update_params();
updateParams();
}
_mixing_output.updateSubscriptions(false);
@@ -156,168 +132,6 @@ void LinuxPWMOut::Run()
perf_end(_cycle_perf);
}
void LinuxPWMOut::update_params()
{
updateParams();
// skip update when armed or dynamic mixing enabled
if (_mixing_output.armed().armed || _mixing_output.useDynamicMixing()) {
return;
}
int32_t pwm_min_default = PWM_DEFAULT_MIN;
int32_t pwm_max_default = PWM_DEFAULT_MAX;
int32_t pwm_disarmed_default = 0;
int32_t pwm_default_channels = 0;
const char *prefix;
if (_class_instance == CLASS_DEVICE_PRIMARY) {
prefix = "PWM_MAIN";
param_get(param_find("PWM_MAIN_MIN"), &pwm_min_default);
param_get(param_find("PWM_MAIN_MAX"), &pwm_max_default);
param_get(param_find("PWM_MAIN_DISARM"), &pwm_disarmed_default);
param_get(param_find("PWM_MAIN_OUT"), &pwm_default_channels);
} else if (_class_instance == CLASS_DEVICE_SECONDARY) {
prefix = "PWM_AUX";
param_get(param_find("PWM_AUX_MIN"), &pwm_min_default);
param_get(param_find("PWM_AUX_MAX"), &pwm_max_default);
param_get(param_find("PWM_AUX_DISARM"), &pwm_disarmed_default);
param_get(param_find("PWM_AUX_OUT"), &pwm_default_channels);
} else if (_class_instance == CLASS_DEVICE_TERTIARY) {
prefix = "PWM_EXTRA";
param_get(param_find("PWM_EXTRA_MIN"), &pwm_min_default);
param_get(param_find("PWM_EXTRA_MAX"), &pwm_max_default);
param_get(param_find("PWM_EXTRA_DISARM"), &pwm_disarmed_default);
} else {
PX4_ERR("invalid class instance %d", _class_instance);
return;
}
uint32_t single_ch = 0;
uint32_t pwm_default_channel_mask = 0;
while ((single_ch = pwm_default_channels % 10)) {
pwm_default_channel_mask |= 1 << (single_ch - 1);
pwm_default_channels /= 10;
}
char str[17];
for (unsigned i = 0; i < MAX_ACTUATORS; i++) {
// PWM_MAIN_MINx
{
sprintf(str, "%s_MIN%u", prefix, i + 1);
int32_t pwm_min = -1;
if (param_get(param_find(str), &pwm_min) == PX4_OK && pwm_min >= 0) {
_mixing_output.minValue(i) = math::constrain(pwm_min, PWM_LOWEST_MIN, PWM_HIGHEST_MIN);
if (pwm_min != _mixing_output.minValue(i)) {
int32_t pwm_min_new = _mixing_output.minValue(i);
param_set(param_find(str), &pwm_min_new);
}
} else if (pwm_default_channel_mask & 1 << i) {
_mixing_output.minValue(i) = pwm_min_default;
}
}
// PWM_MAIN_MAXx
{
sprintf(str, "%s_MAX%u", prefix, i + 1);
int32_t pwm_max = -1;
if (param_get(param_find(str), &pwm_max) == PX4_OK && pwm_max >= 0) {
_mixing_output.maxValue(i) = math::constrain(pwm_max, PWM_LOWEST_MAX, PWM_HIGHEST_MAX);
if (pwm_max != _mixing_output.maxValue(i)) {
int32_t pwm_max_new = _mixing_output.maxValue(i);
param_set(param_find(str), &pwm_max_new);
}
} else if (pwm_default_channel_mask & 1 << i) {
_mixing_output.maxValue(i) = pwm_max_default;
}
}
// PWM_MAIN_DISx
{
sprintf(str, "%s_DIS%u", prefix, i + 1);
int32_t pwm_dis = -1;
if (param_get(param_find(str), &pwm_dis) == PX4_OK && pwm_dis >= 0) {
_mixing_output.disarmedValue(i) = math::constrain(pwm_dis, 0, PWM_HIGHEST_MAX);
if (pwm_dis != _mixing_output.disarmedValue(i)) {
int32_t pwm_dis_new = _mixing_output.disarmedValue(i);
param_set(param_find(str), &pwm_dis_new);
}
} else if (pwm_default_channel_mask & 1 << i) {
_mixing_output.disarmedValue(i) = pwm_disarmed_default;
}
}
// PWM_MAIN_FAILx
{
sprintf(str, "%s_FAIL%u", prefix, i + 1);
int32_t pwm_failsafe = -1;
if (param_get(param_find(str), &pwm_failsafe) == PX4_OK && pwm_failsafe >= 0) {
_mixing_output.failsafeValue(i) = math::constrain(pwm_failsafe, 0, PWM_HIGHEST_MAX);
if (pwm_failsafe != _mixing_output.failsafeValue(i)) {
int32_t pwm_fail_new = _mixing_output.failsafeValue(i);
param_set(param_find(str), &pwm_fail_new);
}
} else {
// if no channel specific failsafe value is configured, use the disarmed value
_mixing_output.failsafeValue(i) = _mixing_output.disarmedValue(i);
}
}
// PWM_MAIN_REVx
{
sprintf(str, "%s_REV%u", prefix, i + 1);
int32_t pwm_rev = 0;
if (param_get(param_find(str), &pwm_rev) == PX4_OK) {
uint16_t &reverse_pwm_mask = _mixing_output.reverseOutputMask();
if (pwm_rev >= 1) {
reverse_pwm_mask = reverse_pwm_mask | (2 << i);
} else {
reverse_pwm_mask = reverse_pwm_mask & ~(2 << i);
}
}
}
}
if (_mixing_output.mixers()) {
int16_t values[MAX_ACTUATORS] {};
for (unsigned i = 0; i < MAX_ACTUATORS; i++) {
sprintf(str, "%s_TRIM%u", prefix, i + 1);
float pval = 0.0f;
param_get(param_find(str), &pval);
values[i] = roundf(10000 * pval);
}
// copy the trim values to the mixer offsets
_mixing_output.mixers()->set_trims(values, MAX_ACTUATORS);
}
}
int LinuxPWMOut::custom_command(int argc, char *argv[])
{
return print_usage("unknown command");
src/drivers/linux_pwm_out/linux_pwm_out.hpp
+2 -11
View File
@@ -33,9 +33,7 @@
#pragma once
#include <drivers/device/device.h>
#include <lib/cdev/CDev.hpp>
#include <lib/mathlib/mathlib.h>
#include <lib/mixer_module/mixer_module.hpp>
#include <lib/parameters/param.h>
@@ -51,8 +49,7 @@
using namespace time_literals;
class LinuxPWMOut : public cdev::CDev, public ModuleBase<LinuxPWMOut>, public OutputModuleInterface
class LinuxPWMOut : public ModuleBase<LinuxPWMOut>, public OutputModuleInterface
{
public:
LinuxPWMOut();
@@ -72,9 +69,7 @@ public:
/** @see ModuleBase::print_status() */
int print_status() override;
int ioctl(device::file_t *filp, int cmd, unsigned long arg) override;
int init() override;
int init();
bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated) override;
@@ -82,14 +77,10 @@ public:
private:
static constexpr int MAX_ACTUATORS = 8;
void update_params();
MixingOutput _mixing_output{"PWM_MAIN", MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
int _class_instance{-1};
pwm_out::PWMOutBase *_pwm_out{nullptr};
perf_counter_t _cycle_perf;