fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-20 08:23:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

rpi_pwm_out: add support for PCA9685 output

Browse Source
This commit is contained in:
Beat Küng
2017-07-13 16:53:28 +02:00
parent 723f67b39a
commit b6942115e1
7 changed files with 665 additions and 107 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/rpi_pwm_out/CMakeLists.txt
+2
View File
@@ -35,6 +35,8 @@ px4_add_module(
MAIN rpi_pwm_out MAIN rpi_pwm_out
COMPILE_FLAGS COMPILE_FLAGS
SRCS SRCS
PCA9685.cpp
navio_sysfs.cpp
rpi_pwm_out.cpp rpi_pwm_out.cpp
DEPENDS DEPENDS
platforms__common platforms__common
src/drivers/rpi_pwm_out/PCA9685.cpp
+192
View File
@@ -0,0 +1,192 @@
/****************************************************************************
*
* 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.
*
*
* Original Author : Georgi Todorov
* Edited by : Tord Wessman
* Created on : Nov 22, 2013
* Rewrite : Fan.zhang 421395590@qq.com
* Updated on : Mar 2, 2017
****************************************************************************/
#include <sys/stat.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <linux/i2c-dev.h>
#include <stdio.h> /* Standard I/O functions */
#include <fcntl.h>
#include <inttypes.h>
#include <errno.h>
#include <math.h>
#include <stdio.h>
#include <unistd.h>
#include "PCA9685.h"
#include <px4_log.h>
using namespace rpi_pwm_out;
void PCA9685::init(int bus, int address)
{
_fd = open_fd(bus, address);
reset();
usleep(1000 * 100);
/* 12BIT 精度输出下，好赢电调可以到200HZ刷新 */
/* 200HZ for 12bit Resolution, supported by most of the esc's */
setPWMFreq(200);
usleep(1000 * 1000);
}
int PCA9685::send_output_pwm(const uint16_t *pwm, int num_outputs)
{
if (num_outputs > 16) {
num_outputs = 16;
}
for (int i = 0; i < num_outputs; ++i) {
setPWM(i, pwm[i]);
}
return 0;
}
PCA9685::PCA9685()
{
init(PCA9685_DEFAULT_I2C_BUS, PCA9685_DEFAULT_I2C_ADDR);
}
PCA9685::PCA9685(int bus, int address)
{
init(bus, address);
}
PCA9685::~PCA9685()
{
reset();
if (_fd >= 0) {
close(_fd);
}
}
void PCA9685::reset()
{
if (_fd != -1) {
write_byte(_fd, MODE1, 0x00); //Normal mode
write_byte(_fd, MODE2, 0x04); //Normal mode
}
}
void PCA9685::setPWMFreq(int freq)
{
if (_fd != -1) {
uint8_t prescale = (CLOCK_FREQ / MAX_PWM_RES / freq) - 1;
//printf ("Setting prescale value to: %d\n", prescale);
//printf ("Using Frequency: %d\n", freq);
uint8_t oldmode = read_byte(_fd, MODE1);
uint8_t newmode = (oldmode & 0x7F) | 0x10; //sleep
write_byte(_fd, MODE1, newmode); // go to sleep
write_byte(_fd, PRE_SCALE, prescale);
write_byte(_fd, MODE1, oldmode);
usleep(10 * 1000);
write_byte(_fd, MODE1, oldmode | 0x80);
}
}
void PCA9685::setPWM(uint8_t led, int value)
{
setPWM(led, 0, value);
}
void PCA9685::setPWM(uint8_t led, int on_value, int off_value)
{
if (_fd != -1) {
write_byte(_fd, LED0_ON_L + LED_MULTIPLYER * led, on_value & 0xFF);
write_byte(_fd, LED0_ON_H + LED_MULTIPLYER * led, on_value >> 8);
write_byte(_fd, LED0_OFF_L + LED_MULTIPLYER * led, off_value & 0xFF);
write_byte(_fd, LED0_OFF_H + LED_MULTIPLYER * led, off_value >> 8);
}
}
uint8_t PCA9685::read_byte(int fd, uint8_t address)
{
uint8_t buf[1];
buf[0] = address;
if (write(fd, buf, 1) != 1) {
return -1;
}
if (read(fd, buf, 1) != 1) {
return -1;
}
return buf[0];
}
void PCA9685::write_byte(int fd, uint8_t address, uint8_t data)
{
uint8_t buf[2];
buf[0] = address;
buf[1] = data;
if (write(fd, buf, sizeof(buf)) != sizeof(buf)) {
PX4_ERR("Write failed (%i)", errno);
}
}
int PCA9685::open_fd(int bus, int address)
{
int fd;
char bus_file[64];
snprintf(bus_file, sizeof(bus_file), "/dev/i2c-%d", bus);
if ((fd = open(bus_file, O_RDWR)) < 0) {
PX4_ERR("Couldn't open I2C Bus %d [open_fd():open %d]", bus, errno);
return -1;
}
if (ioctl(fd, I2C_SLAVE, address) < 0) {
PX4_ERR("I2C slave %d failed [open_fd():ioctl %d]", address, errno);
return -1;
}
return fd;
}
src/drivers/rpi_pwm_out/PCA9685.h
+143
View File
@@ -0,0 +1,143 @@
/****************************************************************************
*
* 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.
*
*
* Original Author : Georgi Todorov
* Edited by : Tord Wessman
* Created on : Nov 22, 2013
* Rewrite : Fan.zhang 421395590@qq.com
* Updated on : Mar 2, 2017
****************************************************************************/
#pragma once
#include <inttypes.h>
#include "common.h"
namespace rpi_pwm_out
{
// Register Definitions
// 寄存器定义
#define MODE1 0x00 //Mode register 1
#define MODE2 0x01 //Mode register 2
#define SUBADR1 0x02 //I2C-bus subaddress 1
#define SUBADR2 0x03 //I2C-bus subaddress 2
#define SUBADR3 0x04 //I2C-bus subaddress 3
#define ALLCALLADR 0x05 //LED All Call I2C-bus address
#define LED0 0x6 //LED0 start register
#define LED0_ON_L 0x6 //LED0 output and brightness control byte 0
#define LED0_ON_H 0x7 //LED0 output and brightness control byte 1
#define LED0_OFF_L 0x8 //LED0 output and brightness control byte 2
#define LED0_OFF_H 0x9 //LED0 output and brightness control byte 3
#define LED_MULTIPLYER 4 // For the other 15 channels
#define ALLLED_ON_L 0xFA //load all the LEDn_ON registers, byte 0 (turn 0-7 channels on)
#define ALLLED_ON_H 0xFB //load all the LEDn_ON registers, byte 1 (turn 8-15 channels on)
#define ALLLED_OFF_L 0xFC //load all the LEDn_OFF registers, byte 0 (turn 0-7 channels off)
#define ALLLED_OFF_H 0xFD //load all the LEDn_OFF registers, byte 1 (turn 8-15 channels off)
#define PRE_SCALE 0xFE //prescaler for output frequency
#define MAX_PWM_RES 4096 //Resolution 4096=12bit 分辨率，按2的阶乘计算，12bit为4096
#define CLOCK_FREQ 25000000.0 //25MHz default osc clock
#define PCA9685_DEFAULT_I2C_ADDR 0x40 // default i2c address for pca9685 默认i2c地址为0x40
#define PCA9685_DEFAULT_I2C_BUS 1 // default i2c bus for pca9685 默认为1
//! Main class that exports features for PCA9685 chip
class PCA9685 : public PWMOutBase
{
public:
PCA9685();
/**
* Constructor takes bus and address arguments
* @param bus the bus to use in /dev/i2c-%d.
* @param address the device address on bus
*/
PCA9685(int bus, int address);
int init() override { return _fd >= 0; }
int send_output_pwm(const uint16_t *pwm, int num_outputs) override;
void init(int bus, int address);
virtual ~PCA9685();
/// Sets PCA9685 mode to 00
void reset();
/**
* Set the frequency of PWM
* @param freq desired frequency. 40Hz to 1000Hz using internal 25MHz oscillator.
*/
void setPWMFreq(int freq);
/**
* PWM a single channel with custom on time.
* send pwm vale to led(channel)
* @param channel
* @param on_value 0-4095 value to turn on the pulse
* @param off_value 0-4095 value to turn off the pulse
*/
void setPWM(uint8_t channel, int on_value, int off_value);
/**
* send pwm value to led(channel),
* value should be range of 0-4095
*/
void setPWM(uint8_t channel, int value);
private:
int _fd = -1; ///< I2C device file descriptor
/**
* Read a single byte from PCA9685
* @param fd file descriptor for I/O
* @param address register address to read from
* @return read byte
*/
uint8_t read_byte(int fd, uint8_t address);
/**
* Write a single byte to PCA9685
* @param fd file descriptor for I/O
* @param address register address to write to
* @param data 8 bit data to write
*/
void write_byte(int fd, uint8_t address, uint8_t data);
/**
* Open device file for PCA9685 I2C bus
* @return fd returns the file descriptor number or -1 on error
*/
int open_fd(int bus, int address);
};
}
src/drivers/rpi_pwm_out/common.h
+57
View File
@@ -0,0 +1,57 @@
/****************************************************************************
*
* 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 <stdint.h>
namespace rpi_pwm_out
{
/**
** class PWMOutBase
* common abstract PWM output base class
*/
class PWMOutBase
{
public:
virtual ~PWMOutBase() {}
virtual int init() = 0;
virtual int send_output_pwm(const uint16_t *pwm, int num_outputs) = 0;
};
} /* namespace rpi_pwm_out */
src/drivers/rpi_pwm_out/navio_sysfs.cpp
+151
View File
@@ -0,0 +1,151 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
#include "navio_sysfs.h"
#include <fcntl.h>
#include <errno.h>
#include <px4_log.h>
using namespace rpi_pwm_out;
NavioSysfsPWMOut::NavioSysfsPWMOut(const char *device, int max_num_outputs)
: _device(device)
{
if (max_num_outputs > MAX_NUM_PWM) {
PX4_WARN("number of outputs too large. Setting to %i", MAX_NUM_PWM);
max_num_outputs = MAX_NUM_PWM;
}
for (int i = 0; i < MAX_NUM_PWM; ++i) {
_pwm_fd[i] = -1;
}
_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;
}
src/drivers/rpi_pwm_out/navio_sysfs.h
+67
View 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;
};
}
src/drivers/rpi_pwm_out/rpi_pwm_out.cpp
+53 -107
View File
@@ -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 * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -51,17 +51,19 @@
#include <systemlib/param/param.h> #include <systemlib/param/param.h>
#include <systemlib/pwm_limit/pwm_limit.h> #include <systemlib/pwm_limit/pwm_limit.h>
#include "common.h"
#include "navio_sysfs.h"
#include "PCA9685.h"
namespace rpi_pwm_out namespace rpi_pwm_out
{ {
static px4_task_t _task_handle = -1; static px4_task_t _task_handle = -1;
volatile bool _task_should_exit = false; volatile bool _task_should_exit = false;
static bool _is_running = false; static bool _is_running = false;
static const int NUM_PWM = 4;
static char _device[64] = "/sys/class/pwm/pwmchip0"; static char _device[64] = "/sys/class/pwm/pwmchip0";
static int _pwm_fd[NUM_PWM]; static char _protocol[64] = "navio";
static int _max_mum_outputs = 8; ///< maximum number of outputs the driver should use
static const int FREQUENCY_PWM = 400;
static char _mixer_filename[64] = "ROMFS/px4fmu_common/mixers/quad_x.main.mix"; static char _mixer_filename[64] = "ROMFS/px4fmu_common/mixers/quad_x.main.mix";
// subscriptions // subscriptions
@@ -101,14 +103,6 @@ void start();
void stop(); 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 task_main_trampoline(int argc, char *argv[]);
void subscribe(); void subscribe();
@@ -163,89 +157,6 @@ int initialize_mixer(const char *mixer_filename)
return 0; 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() void subscribe()
{ {
@@ -283,17 +194,29 @@ void task_main(int argc, char *argv[])
{ {
_is_running = true; _is_running = true;
if (pwm_initialize(_device) < 0) {
PX4_ERR("Failed to initialize PWM.");
return;
}
// Set up mixer // Set up mixer
if (initialize_mixer(_mixer_filename) < 0) { if (initialize_mixer(_mixer_filename) < 0) {
PX4_ERR("Mixer initialization failed."); PX4_ERR("Mixer initialization failed.");
return; 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); _mixer_group->groups_required(_groups_required);
// subscribe and set up polling // subscribe and set up polling
subscribe(); subscribe();
@@ -374,10 +297,10 @@ void task_main(int argc, char *argv[])
&_pwm_limit); &_pwm_limit);
if (_armed.lockdown || _armed.manual_lockdown) { if (_armed.lockdown || _armed.manual_lockdown) {
send_outputs_pwm(disarmed_pwm); pwm_out->send_output_pwm(disarmed_pwm, _outputs.noutputs);
} else { } else {
send_outputs_pwm(pwm); pwm_out->send_output_pwm(pwm, _outputs.noutputs);
} }
if (_outputs_pub != nullptr) { 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++) { for (uint8_t i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_controls_subs[i] >= 0) { if (_controls_subs[i] >= 0) {
@@ -454,11 +377,15 @@ void stop()
void usage() void usage()
{ {
PX4_INFO("usage: pwm_out start [-d pwmdevice] -m mixerfile"); PX4_INFO("usage: pwm_out start [-d pwmdevice] [-m mixerfile] [-p protocol]");
PX4_INFO(" -d pwmdevice : sysfs device for pwm generation"); PX4_INFO(" -d pwmdevice : sysfs device for pwm generation (only for Navio)");
PX4_INFO(" (default /sys/class/pwm/pwmchip0)"); PX4_INFO(" (default /sys/class/pwm/pwmchip0)");
PX4_INFO(" -m mixerfile : path to mixerfile"); PX4_INFO(" -m mixerfile : path to mixerfile");
PX4_INFO(" (default ROMFS/px4fmu_common/mixers/quad_x.main.mix)"); 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 stop");
PX4_INFO(" pwm_out status"); PX4_INFO(" pwm_out status");
} }
@@ -483,7 +410,7 @@ int rpi_pwm_out_main(int argc, char *argv[])
return 1; 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) { switch (ch) {
case 'd': case 'd':
strncpy(rpi_pwm_out::_device, myoptarg, sizeof(rpi_pwm_out::_device)); 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': case 'm':
strncpy(rpi_pwm_out::_mixer_filename, myoptarg, sizeof(rpi_pwm_out::_mixer_filename)); strncpy(rpi_pwm_out::_mixer_filename, myoptarg, sizeof(rpi_pwm_out::_mixer_filename));
break; 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;
} }
} }