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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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rpi_pwm_out: add support for PCA9685 output
This commit is contained in:
Beat Küng
parent
723f67b39a
commit
b6942115e1
@ -35,6 +35,8 @@ px4_add_module(
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MAIN rpi_pwm_out
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COMPILE_FLAGS
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SRCS
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PCA9685.cpp
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navio_sysfs.cpp
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rpi_pwm_out.cpp
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DEPENDS
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platforms__common
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192
src/drivers/rpi_pwm_out/PCA9685.cpp
Normal file
192
src/drivers/rpi_pwm_out/PCA9685.cpp
Normal file
@ -0,0 +1,192 @@
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/****************************************************************************
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*
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* Copyright (c) 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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* Original Author : Georgi Todorov
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* Edited by : Tord Wessman
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* Created on : Nov 22, 2013
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* Rewrite : Fan.zhang 421395590@qq.com
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* Updated on : Mar 2, 2017
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****************************************************************************/
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#include <sys/stat.h>
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#include <sys/ioctl.h>
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#include <unistd.h>
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#include <linux/i2c-dev.h>
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#include <stdio.h> /* Standard I/O functions */
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#include <fcntl.h>
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#include <inttypes.h>
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#include <errno.h>
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#include <math.h>
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#include <stdio.h>
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#include <unistd.h>
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#include "PCA9685.h"
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#include <px4_log.h>
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using namespace rpi_pwm_out;
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void PCA9685::init(int bus, int address)
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{
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_fd = open_fd(bus, address);
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reset();
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usleep(1000 * 100);
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/* 12BIT 精度输出下，好赢电调可以到200HZ刷新 */
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/* 200HZ for 12bit Resolution, supported by most of the esc's */
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setPWMFreq(200);
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usleep(1000 * 1000);
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}
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int PCA9685::send_output_pwm(const uint16_t *pwm, int num_outputs)
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{
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if (num_outputs > 16) {
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num_outputs = 16;
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}
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for (int i = 0; i < num_outputs; ++i) {
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setPWM(i, pwm[i]);
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}
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return 0;
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}
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PCA9685::PCA9685()
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{
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init(PCA9685_DEFAULT_I2C_BUS, PCA9685_DEFAULT_I2C_ADDR);
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}
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PCA9685::PCA9685(int bus, int address)
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{
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init(bus, address);
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}
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PCA9685::~PCA9685()
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{
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reset();
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if (_fd >= 0) {
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close(_fd);
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}
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}
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void PCA9685::reset()
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{
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if (_fd != -1) {
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write_byte(_fd, MODE1, 0x00); //Normal mode
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write_byte(_fd, MODE2, 0x04); //Normal mode
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}
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}
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void PCA9685::setPWMFreq(int freq)
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{
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if (_fd != -1) {
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uint8_t prescale = (CLOCK_FREQ / MAX_PWM_RES / freq) - 1;
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//printf ("Setting prescale value to: %d\n", prescale);
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//printf ("Using Frequency: %d\n", freq);
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uint8_t oldmode = read_byte(_fd, MODE1);
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uint8_t newmode = (oldmode & 0x7F) | 0x10; //sleep
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write_byte(_fd, MODE1, newmode); // go to sleep
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write_byte(_fd, PRE_SCALE, prescale);
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write_byte(_fd, MODE1, oldmode);
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usleep(10 * 1000);
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write_byte(_fd, MODE1, oldmode | 0x80);
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}
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}
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void PCA9685::setPWM(uint8_t led, int value)
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{
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setPWM(led, 0, value);
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}
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void PCA9685::setPWM(uint8_t led, int on_value, int off_value)
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{
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if (_fd != -1) {
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write_byte(_fd, LED0_ON_L + LED_MULTIPLYER * led, on_value & 0xFF);
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write_byte(_fd, LED0_ON_H + LED_MULTIPLYER * led, on_value >> 8);
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write_byte(_fd, LED0_OFF_L + LED_MULTIPLYER * led, off_value & 0xFF);
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write_byte(_fd, LED0_OFF_H + LED_MULTIPLYER * led, off_value >> 8);
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}
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}
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uint8_t PCA9685::read_byte(int fd, uint8_t address)
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{
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uint8_t buf[1];
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buf[0] = address;
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if (write(fd, buf, 1) != 1) {
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return -1;
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}
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if (read(fd, buf, 1) != 1) {
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return -1;
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}
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return buf[0];
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}
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void PCA9685::write_byte(int fd, uint8_t address, uint8_t data)
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{
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uint8_t buf[2];
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buf[0] = address;
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buf[1] = data;
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if (write(fd, buf, sizeof(buf)) != sizeof(buf)) {
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PX4_ERR("Write failed (%i)", errno);
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}
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}
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int PCA9685::open_fd(int bus, int address)
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{
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int fd;
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char bus_file[64];
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snprintf(bus_file, sizeof(bus_file), "/dev/i2c-%d", bus);
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if ((fd = open(bus_file, O_RDWR)) < 0) {
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PX4_ERR("Couldn't open I2C Bus %d [open_fd():open %d]", bus, errno);
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return -1;
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}
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if (ioctl(fd, I2C_SLAVE, address) < 0) {
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PX4_ERR("I2C slave %d failed [open_fd():ioctl %d]", address, errno);
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return -1;
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}
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return fd;
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}
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143
src/drivers/rpi_pwm_out/PCA9685.h
Normal file
143
src/drivers/rpi_pwm_out/PCA9685.h
Normal file
@ -0,0 +1,143 @@
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/****************************************************************************
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*
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* Copyright (c) 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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* Original Author : Georgi Todorov
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* Edited by : Tord Wessman
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* Created on : Nov 22, 2013
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* Rewrite : Fan.zhang 421395590@qq.com
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* Updated on : Mar 2, 2017
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****************************************************************************/
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#pragma once
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#include <inttypes.h>
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#include "common.h"
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namespace rpi_pwm_out
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{
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// Register Definitions
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// 寄存器定义
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#define MODE1 0x00 //Mode register 1
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#define MODE2 0x01 //Mode register 2
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#define SUBADR1 0x02 //I2C-bus subaddress 1
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#define SUBADR2 0x03 //I2C-bus subaddress 2
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#define SUBADR3 0x04 //I2C-bus subaddress 3
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#define ALLCALLADR 0x05 //LED All Call I2C-bus address
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#define LED0 0x6 //LED0 start register
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#define LED0_ON_L 0x6 //LED0 output and brightness control byte 0
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#define LED0_ON_H 0x7 //LED0 output and brightness control byte 1
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#define LED0_OFF_L 0x8 //LED0 output and brightness control byte 2
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#define LED0_OFF_H 0x9 //LED0 output and brightness control byte 3
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#define LED_MULTIPLYER 4 // For the other 15 channels
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#define ALLLED_ON_L 0xFA //load all the LEDn_ON registers, byte 0 (turn 0-7 channels on)
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#define ALLLED_ON_H 0xFB //load all the LEDn_ON registers, byte 1 (turn 8-15 channels on)
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#define ALLLED_OFF_L 0xFC //load all the LEDn_OFF registers, byte 0 (turn 0-7 channels off)
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#define ALLLED_OFF_H 0xFD //load all the LEDn_OFF registers, byte 1 (turn 8-15 channels off)
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#define PRE_SCALE 0xFE //prescaler for output frequency
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#define MAX_PWM_RES 4096 //Resolution 4096=12bit 分辨率，按2的阶乘计算，12bit为4096
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#define CLOCK_FREQ 25000000.0 //25MHz default osc clock
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#define PCA9685_DEFAULT_I2C_ADDR 0x40 // default i2c address for pca9685 默认i2c地址为0x40
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#define PCA9685_DEFAULT_I2C_BUS 1 // default i2c bus for pca9685 默认为1
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//! Main class that exports features for PCA9685 chip
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class PCA9685 : public PWMOutBase
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{
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public:
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PCA9685();
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/**
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* Constructor takes bus and address arguments
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* @param bus the bus to use in /dev/i2c-%d.
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* @param address the device address on bus
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*/
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PCA9685(int bus, int address);
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int init() override { return _fd >= 0; }
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int send_output_pwm(const uint16_t *pwm, int num_outputs) override;
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void init(int bus, int address);
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virtual ~PCA9685();
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/// Sets PCA9685 mode to 00
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void reset();
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/**
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* Set the frequency of PWM
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* @param freq desired frequency. 40Hz to 1000Hz using internal 25MHz oscillator.
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*/
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void setPWMFreq(int freq);
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/**
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* PWM a single channel with custom on time.
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* send pwm vale to led(channel)
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* @param channel
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* @param on_value 0-4095 value to turn on the pulse
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* @param off_value 0-4095 value to turn off the pulse
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*/
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void setPWM(uint8_t channel, int on_value, int off_value);
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/**
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* send pwm value to led(channel),
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* value should be range of 0-4095
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*/
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void setPWM(uint8_t channel, int value);
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private:
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int _fd = -1; ///< I2C device file descriptor
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/**
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* Read a single byte from PCA9685
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* @param fd file descriptor for I/O
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* @param address register address to read from
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* @return read byte
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*/
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uint8_t read_byte(int fd, uint8_t address);
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/**
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* Write a single byte to PCA9685
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* @param fd file descriptor for I/O
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* @param address register address to write to
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* @param data 8 bit data to write
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*/
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void write_byte(int fd, uint8_t address, uint8_t data);
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/**
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* Open device file for PCA9685 I2C bus
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* @return fd returns the file descriptor number or -1 on error
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*/
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int open_fd(int bus, int address);
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};
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}
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57
src/drivers/rpi_pwm_out/common.h
Normal file
57
src/drivers/rpi_pwm_out/common.h
Normal file
@ -0,0 +1,57 @@
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/****************************************************************************
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*
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* Copyright (c) 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
|
||||
* 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.
|
||||
*
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****************************************************************************/
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#pragma once
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#include <stdint.h>
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namespace rpi_pwm_out
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{
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/**
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** class PWMOutBase
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* common abstract PWM output base class
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*/
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class PWMOutBase
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{
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public:
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virtual ~PWMOutBase() {}
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virtual int init() = 0;
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virtual int send_output_pwm(const uint16_t *pwm, int num_outputs) = 0;
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};
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} /* namespace rpi_pwm_out */
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151
src/drivers/rpi_pwm_out/navio_sysfs.cpp
Normal file
151
src/drivers/rpi_pwm_out/navio_sysfs.cpp
Normal file
@ -0,0 +1,151 @@
|
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/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
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****************************************************************************/
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#include "navio_sysfs.h"
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#include <fcntl.h>
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#include <errno.h>
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#include <px4_log.h>
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using namespace rpi_pwm_out;
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NavioSysfsPWMOut::NavioSysfsPWMOut(const char *device, int max_num_outputs)
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: _device(device)
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{
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if (max_num_outputs > MAX_NUM_PWM) {
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PX4_WARN("number of outputs too large. Setting to %i", MAX_NUM_PWM);
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max_num_outputs = MAX_NUM_PWM;
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}
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for (int i = 0; i < MAX_NUM_PWM; ++i) {
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_pwm_fd[i] = -1;
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}
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||||
_pwm_num = max_num_outputs;
|
||||
}
|
||||
|
||||
NavioSysfsPWMOut::~NavioSysfsPWMOut()
|
||||
{
|
||||
for (int i = 0; i < MAX_NUM_PWM; ++i) {
|
||||
if (_pwm_fd[i] != -1) {
|
||||
::close(_pwm_fd[i]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int NavioSysfsPWMOut::init()
|
||||
{
|
||||
int i;
|
||||
char path[128];
|
||||
|
||||
for (i = 0; i < _pwm_num; ++i) {
|
||||
::snprintf(path, sizeof(path), "%s/export", _device);
|
||||
|
||||
if (pwm_write_sysfs(path, i) < 0) {
|
||||
PX4_ERR("PWM export failed");
|
||||
}
|
||||
}
|
||||
|
||||
for (i = 0; i < _pwm_num; ++i) {
|
||||
::snprintf(path, sizeof(path), "%s/pwm%u/enable", _device, i);
|
||||
|
||||
if (pwm_write_sysfs(path, 1) < 0) {
|
||||
PX4_ERR("PWM enable failed");
|
||||
}
|
||||
}
|
||||
|
||||
for (i = 0; i < _pwm_num; ++i) {
|
||||
::snprintf(path, sizeof(path), "%s/pwm%u/period", _device, i);
|
||||
|
||||
if (pwm_write_sysfs(path, (int)1e9 / FREQUENCY_PWM)) {
|
||||
PX4_ERR("PWM period failed");
|
||||
}
|
||||
}
|
||||
|
||||
for (i = 0; i < _pwm_num; ++i) {
|
||||
::snprintf(path, sizeof(path), "%s/pwm%u/duty_cycle", _device, i);
|
||||
_pwm_fd[i] = ::open(path, O_WRONLY | O_CLOEXEC);
|
||||
|
||||
if (_pwm_fd[i] == -1) {
|
||||
PX4_ERR("PWM: Failed to open duty_cycle.");
|
||||
return -errno;
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int NavioSysfsPWMOut::send_output_pwm(const uint16_t *pwm, int num_outputs)
|
||||
{
|
||||
char data[16];
|
||||
|
||||
if (num_outputs > _pwm_num) {
|
||||
num_outputs = _pwm_num;
|
||||
}
|
||||
|
||||
int ret = 0;
|
||||
|
||||
//convert this to duty_cycle in ns
|
||||
for (unsigned i = 0; i < num_outputs; ++i) {
|
||||
int n = ::snprintf(data, sizeof(data), "%u", pwm[i] * 1000);
|
||||
int write_ret = ::write(_pwm_fd[i], data, n);
|
||||
|
||||
if (n != write_ret) {
|
||||
ret = -1;
|
||||
}
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int NavioSysfsPWMOut::pwm_write_sysfs(char *path, int value)
|
||||
{
|
||||
int fd = ::open(path, O_WRONLY | O_CLOEXEC);
|
||||
int n;
|
||||
char data[16];
|
||||
|
||||
if (fd == -1) {
|
||||
return -errno;
|
||||
}
|
||||
|
||||
n = ::snprintf(data, sizeof(data), "%u", value);
|
||||
|
||||
if (n > 0) {
|
||||
n = ::write(fd, data, n); // This n is not used, but to avoid a compiler error.
|
||||
}
|
||||
|
||||
::close(fd);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
67
src/drivers/rpi_pwm_out/navio_sysfs.h
Normal file
67
src/drivers/rpi_pwm_out/navio_sysfs.h
Normal file
@ -0,0 +1,67 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "common.h"
|
||||
|
||||
namespace rpi_pwm_out
|
||||
{
|
||||
|
||||
/**
|
||||
** class NavioSysfsPWMOut
|
||||
* PWM output class for Navio Sysfs
|
||||
*/
|
||||
class NavioSysfsPWMOut : public PWMOutBase
|
||||
{
|
||||
public:
|
||||
NavioSysfsPWMOut(const char *device, int max_num_outputs);
|
||||
virtual ~NavioSysfsPWMOut();
|
||||
|
||||
int init() override;
|
||||
|
||||
int send_output_pwm(const uint16_t *pwm, int num_outputs) override;
|
||||
|
||||
private:
|
||||
int pwm_write_sysfs(char *path, int value);
|
||||
|
||||
static const int MAX_NUM_PWM = 14;
|
||||
static const int FREQUENCY_PWM = 400;
|
||||
|
||||
int _pwm_fd[MAX_NUM_PWM];
|
||||
int _pwm_num;
|
||||
|
||||
const char *_device;
|
||||
};
|
||||
|
||||
}
|
||||
@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2015-2016 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2015-2017 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
|
||||
@ -51,17 +51,19 @@
|
||||
#include <systemlib/param/param.h>
|
||||
#include <systemlib/pwm_limit/pwm_limit.h>
|
||||
|
||||
#include "common.h"
|
||||
#include "navio_sysfs.h"
|
||||
#include "PCA9685.h"
|
||||
|
||||
namespace rpi_pwm_out
|
||||
{
|
||||
static px4_task_t _task_handle = -1;
|
||||
volatile bool _task_should_exit = false;
|
||||
static bool _is_running = false;
|
||||
|
||||
static const int NUM_PWM = 4;
|
||||
static char _device[64] = "/sys/class/pwm/pwmchip0";
|
||||
static int _pwm_fd[NUM_PWM];
|
||||
|
||||
static const int FREQUENCY_PWM = 400;
|
||||
static char _protocol[64] = "navio";
|
||||
static int _max_mum_outputs = 8; ///< maximum number of outputs the driver should use
|
||||
static char _mixer_filename[64] = "ROMFS/px4fmu_common/mixers/quad_x.main.mix";
|
||||
|
||||
// subscriptions
|
||||
@ -101,14 +103,6 @@ void start();
|
||||
|
||||
void stop();
|
||||
|
||||
int pwm_write_sysfs(char *path, int value);
|
||||
|
||||
int pwm_initialize(const char *device);
|
||||
|
||||
void pwm_deinitialize();
|
||||
|
||||
void send_outputs_pwm(const uint16_t *pwm);
|
||||
|
||||
void task_main_trampoline(int argc, char *argv[]);
|
||||
|
||||
void subscribe();
|
||||
@ -163,89 +157,6 @@ int initialize_mixer(const char *mixer_filename)
|
||||
return 0;
|
||||
}
|
||||
|
||||
int pwm_write_sysfs(char *path, int value)
|
||||
{
|
||||
int fd = ::open(path, O_WRONLY | O_CLOEXEC);
|
||||
int n;
|
||||
char data[16];
|
||||
|
||||
if (fd == -1) {
|
||||
return -errno;
|
||||
}
|
||||
|
||||
n = ::snprintf(data, sizeof(data), "%u", value);
|
||||
|
||||
if (n > 0) {
|
||||
n = ::write(fd, data, n); // This n is not used, but to avoid a compiler error.
|
||||
}
|
||||
|
||||
::close(fd);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int pwm_initialize(const char *device)
|
||||
{
|
||||
int i;
|
||||
char path[128];
|
||||
|
||||
for (i = 0; i < NUM_PWM; ++i) {
|
||||
::snprintf(path, sizeof(path), "%s/export", device);
|
||||
|
||||
if (pwm_write_sysfs(path, i) < 0) {
|
||||
PX4_ERR("PWM export failed");
|
||||
}
|
||||
}
|
||||
|
||||
for (i = 0; i < NUM_PWM; ++i) {
|
||||
::snprintf(path, sizeof(path), "%s/pwm%u/enable", device, i);
|
||||
|
||||
if (pwm_write_sysfs(path, 1) < 0) {
|
||||
PX4_ERR("PWM enable failed");
|
||||
}
|
||||
}
|
||||
|
||||
for (i = 0; i < NUM_PWM; ++i) {
|
||||
::snprintf(path, sizeof(path), "%s/pwm%u/period", device, i);
|
||||
|
||||
if (pwm_write_sysfs(path, (int)1e9 / FREQUENCY_PWM)) {
|
||||
PX4_ERR("PWM period failed");
|
||||
}
|
||||
}
|
||||
|
||||
for (i = 0; i < NUM_PWM; ++i) {
|
||||
::snprintf(path, sizeof(path), "%s/pwm%u/duty_cycle", device, i);
|
||||
_pwm_fd[i] = ::open(path, O_WRONLY | O_CLOEXEC);
|
||||
|
||||
if (_pwm_fd[i] == -1) {
|
||||
PX4_ERR("PWM: Failed to open duty_cycle.");
|
||||
return -errno;
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void pwm_deinitialize()
|
||||
{
|
||||
for (int i = 0; i < NUM_PWM; ++i) {
|
||||
if (_pwm_fd[i] != -1) {
|
||||
::close(_pwm_fd[i]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void send_outputs_pwm(const uint16_t *pwm)
|
||||
{
|
||||
int n;
|
||||
char data[16];
|
||||
|
||||
//convert this to duty_cycle in ns
|
||||
for (unsigned i = 0; i < NUM_PWM; ++i) {
|
||||
n = ::snprintf(data, sizeof(data), "%u", pwm[i] * 1000);
|
||||
n = ::write(_pwm_fd[i], data, n); // This n is not used, but to avoid a compiler error.
|
||||
}
|
||||
}
|
||||
|
||||
void subscribe()
|
||||
{
|
||||
@ -283,17 +194,29 @@ void task_main(int argc, char *argv[])
|
||||
{
|
||||
_is_running = true;
|
||||
|
||||
if (pwm_initialize(_device) < 0) {
|
||||
PX4_ERR("Failed to initialize PWM.");
|
||||
return;
|
||||
}
|
||||
|
||||
// Set up mixer
|
||||
if (initialize_mixer(_mixer_filename) < 0) {
|
||||
PX4_ERR("Mixer initialization failed.");
|
||||
return;
|
||||
}
|
||||
|
||||
PWMOutBase *pwm_out;
|
||||
|
||||
if (strcmp(_protocol, "pca9685") == 0) {
|
||||
PX4_INFO("Starting PWM output in PCA9685 mode");
|
||||
pwm_out = new PCA9685();
|
||||
|
||||
} else { // navio
|
||||
PX4_INFO("Starting PWM output in Navio mode");
|
||||
pwm_out = new NavioSysfsPWMOut(_device, _max_mum_outputs);
|
||||
}
|
||||
|
||||
if (pwm_out->init() != 0) {
|
||||
PX4_ERR("PWM output init failed");
|
||||
delete pwm_out;
|
||||
return;
|
||||
}
|
||||
|
||||
_mixer_group->groups_required(_groups_required);
|
||||
// subscribe and set up polling
|
||||
subscribe();
|
||||
@ -374,10 +297,10 @@ void task_main(int argc, char *argv[])
|
||||
&_pwm_limit);
|
||||
|
||||
if (_armed.lockdown || _armed.manual_lockdown) {
|
||||
send_outputs_pwm(disarmed_pwm);
|
||||
pwm_out->send_output_pwm(disarmed_pwm, _outputs.noutputs);
|
||||
|
||||
} else {
|
||||
send_outputs_pwm(pwm);
|
||||
pwm_out->send_output_pwm(pwm, _outputs.noutputs);
|
||||
}
|
||||
|
||||
if (_outputs_pub != nullptr) {
|
||||
@ -400,7 +323,7 @@ void task_main(int argc, char *argv[])
|
||||
}
|
||||
}
|
||||
|
||||
pwm_deinitialize();
|
||||
delete pwm_out;
|
||||
|
||||
for (uint8_t i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
|
||||
if (_controls_subs[i] >= 0) {
|
||||
@ -454,11 +377,15 @@ void stop()
|
||||
|
||||
void usage()
|
||||
{
|
||||
PX4_INFO("usage: pwm_out start [-d pwmdevice] -m mixerfile");
|
||||
PX4_INFO(" -d pwmdevice : sysfs device for pwm generation");
|
||||
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(" -m mixerfile : path to mixerfile");
|
||||
PX4_INFO(" (default ROMFS/px4fmu_common/mixers/quad_x.main.mix)");
|
||||
PX4_INFO(" -p protocol : driver output protocol (navio|pca9685)");
|
||||
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");
|
||||
}
|
||||
@ -483,7 +410,7 @@ int rpi_pwm_out_main(int argc, char *argv[])
|
||||
return 1;
|
||||
}
|
||||
|
||||
while ((ch = px4_getopt(argc, argv, "d:m:", &myoptind, &myoptarg)) != EOF) {
|
||||
while ((ch = px4_getopt(argc, argv, "d:m:p:n:", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'd':
|
||||
strncpy(rpi_pwm_out::_device, myoptarg, sizeof(rpi_pwm_out::_device));
|
||||
@ -492,6 +419,25 @@ int rpi_pwm_out_main(int argc, char *argv[])
|
||||
case 'm':
|
||||
strncpy(rpi_pwm_out::_mixer_filename, myoptarg, sizeof(rpi_pwm_out::_mixer_filename));
|
||||
break;
|
||||
|
||||
case 'p':
|
||||
strncpy(rpi_pwm_out::_protocol, myoptarg, sizeof(rpi_pwm_out::_protocol));
|
||||
break;
|
||||
|
||||
case 'n': {
|
||||
unsigned long max_num = strtoul(myoptarg, nullptr, 10);
|
||||
|
||||
if (max_num <= 0) {
|
||||
max_num = 8;
|
||||
}
|
||||
|
||||
if (max_num > actuator_outputs_s::NUM_ACTUATOR_OUTPUTS) {
|
||||
max_num = actuator_outputs_s::NUM_ACTUATOR_OUTPUTS;
|
||||
}
|
||||
|
||||
rpi_pwm_out::_max_mum_outputs = max_num;
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user