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pwm info provides more information, some fixes for setting rate/min/max/disarmed

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This commit is contained in:
Julian Oes
2013-10-07 16:24:49 +02:00
parent 9ff5217118
commit ea0aa49b54
10 changed files with 396 additions and 294 deletions
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src/drivers/drv_pwm_output.h
+28 -10
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@@ -101,38 +101,56 @@ ORB_DECLARE(output_pwm);
/** disarm all servo outputs (stop generating pulses) */
#define PWM_SERVO_DISARM _IOC(_PWM_SERVO_BASE, 1)
/** get default servo update rate */
#define PWM_SERVO_GET_DEFAULT_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 2)
/** set alternate servo update rate */
#define PWM_SERVO_SET_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 2)
#define PWM_SERVO_SET_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 3)
/** get alternate servo update rate */
#define PWM_SERVO_GET_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 4)
/** get the number of servos in *(unsigned *)arg */
#define PWM_SERVO_GET_COUNT _IOC(_PWM_SERVO_BASE, 3)
#define PWM_SERVO_GET_COUNT _IOC(_PWM_SERVO_BASE, 5)
/** selects servo update rates, one bit per servo. 0 = default (50Hz), 1 = alternate */
#define PWM_SERVO_SELECT_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 4)
#define PWM_SERVO_SET_SELECT_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 6)
/** check the selected update rates */
#define PWM_SERVO_GET_SELECT_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 7)
/** set the 'ARM ok' bit, which activates the safety switch */
#define PWM_SERVO_SET_ARM_OK _IOC(_PWM_SERVO_BASE, 5)
#define PWM_SERVO_SET_ARM_OK _IOC(_PWM_SERVO_BASE, 8)
/** clear the 'ARM ok' bit, which deactivates the safety switch */
#define PWM_SERVO_CLEAR_ARM_OK _IOC(_PWM_SERVO_BASE, 6)
#define PWM_SERVO_CLEAR_ARM_OK _IOC(_PWM_SERVO_BASE, 9)
/** start DSM bind */
#define DSM_BIND_START _IOC(_PWM_SERVO_BASE, 7)
#define DSM_BIND_START _IOC(_PWM_SERVO_BASE, 10)
#define DSM2_BIND_PULSES 3 /* DSM_BIND_START ioctl parameter, pulses required to start dsm2 pairing */
#define DSMX_BIND_PULSES 7 /* DSM_BIND_START ioctl parameter, pulses required to start dsmx pairing */
/** power up DSM receiver */
#define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 8)
#define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 11)
/** set the PWM value when disarmed - should be no PWM (zero) by default */
#define PWM_SERVO_SET_DISARMED_PWM _IOC(_PWM_SERVO_BASE, 9)
#define PWM_SERVO_SET_DISARMED_PWM _IOC(_PWM_SERVO_BASE, 12)
/** get the PWM value when disarmed */
#define PWM_SERVO_GET_DISARMED_PWM _IOC(_PWM_SERVO_BASE, 13)
/** set the minimum PWM value the output will send */
#define PWM_SERVO_SET_MIN_PWM _IOC(_PWM_SERVO_BASE, 10)
#define PWM_SERVO_SET_MIN_PWM _IOC(_PWM_SERVO_BASE, 14)
/** get the minimum PWM value the output will send */
#define PWM_SERVO_GET_MIN_PWM _IOC(_PWM_SERVO_BASE, 15)
/** set the maximum PWM value the output will send */
#define PWM_SERVO_SET_MAX_PWM _IOC(_PWM_SERVO_BASE, 11)
#define PWM_SERVO_SET_MAX_PWM _IOC(_PWM_SERVO_BASE, 16)
/** get the maximum PWM value the output will send */
#define PWM_SERVO_GET_MAX_PWM _IOC(_PWM_SERVO_BASE, 17)
/** set a single servo to a specific value */
#define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo)
src/drivers/hil/hil.cpp
+1 -1
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@@ -517,7 +517,7 @@ HIL::pwm_ioctl(file *filp, int cmd, unsigned long arg)
g_hil->set_pwm_rate(arg);
break;
case PWM_SERVO_SELECT_UPDATE_RATE:
case PWM_SERVO_SET_SELECT_UPDATE_RATE:
// HIL always outputs at the alternate (usually faster) rate
break;
src/drivers/mkblctrl/mkblctrl.cpp
+1 -1
View File
@@ -1071,7 +1071,7 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg)
ret = OK;
break;
case PWM_SERVO_SELECT_UPDATE_RATE:
case PWM_SERVO_SET_SELECT_UPDATE_RATE:
ret = OK;
break;
src/drivers/px4fmu/fmu.cpp
+13 -1
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@@ -685,14 +685,26 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
up_pwm_servo_arm(false);
break;
case PWM_SERVO_GET_DEFAULT_UPDATE_RATE:
*(uint32_t *)arg = _pwm_default_rate;
break;
case PWM_SERVO_SET_UPDATE_RATE:
ret = set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, arg);
break;
case PWM_SERVO_SELECT_UPDATE_RATE:
case PWM_SERVO_GET_UPDATE_RATE:
*(uint32_t *)arg = _pwm_alt_rate;
break;
case PWM_SERVO_SET_SELECT_UPDATE_RATE:
ret = set_pwm_rate(arg, _pwm_default_rate, _pwm_alt_rate);
break;
case PWM_SERVO_GET_SELECT_UPDATE_RATE:
*(uint32_t *)arg = _pwm_alt_rate_channels;
break;
case PWM_SERVO_SET(5):
case PWM_SERVO_SET(4):
if (_mode < MODE_6PWM) {
src/drivers/px4io/px4io.cpp
+43 -5
View File
@@ -958,7 +958,7 @@ PX4IO::set_idle_values(const uint16_t *vals, unsigned len)
return E2BIG;
/* copy values to registers in IO */
return io_reg_set(PX4IO_PAGE_IDLE_PWM, 0, vals, len);
return io_reg_set(PX4IO_PAGE_DISARMED_PWM, 0, vals, len);
}
@@ -1684,7 +1684,7 @@ PX4IO::print_status()
printf(" %u", io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, i));
printf("\nidle values");
for (unsigned i = 0; i < _max_actuators; i++)
printf(" %u", io_reg_get(PX4IO_PAGE_IDLE_PWM, i));
printf(" %u", io_reg_get(PX4IO_PAGE_DISARMED_PWM, i));
printf("\n");
}
@@ -1716,12 +1716,22 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FMU_ARMED, 0);
break;
case PWM_SERVO_GET_DEFAULT_UPDATE_RATE:
/* get the default update rate */
*(unsigned *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE);
break;
case PWM_SERVO_SET_UPDATE_RATE:
/* set the requested alternate rate */
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE, arg);
break;
case PWM_SERVO_SELECT_UPDATE_RATE: {
case PWM_SERVO_GET_UPDATE_RATE:
/* get the alternative update rate */
*(unsigned *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE);
break;
case PWM_SERVO_SET_SELECT_UPDATE_RATE: {
/* blindly clear the PWM update alarm - might be set for some other reason */
io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, PX4IO_P_STATUS_ALARMS_PWM_ERROR);
@@ -1738,23 +1748,51 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
break;
}
case PWM_SERVO_GET_SELECT_UPDATE_RATE:
*(unsigned *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES);
break;
case PWM_SERVO_SET_DISARMED_PWM: {
struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
set_idle_values(pwm->values, pwm->channel_count);
break;
}
case PWM_SERVO_GET_DISARMED_PWM:
ret = io_reg_get(PX4IO_PAGE_DISARMED_PWM, 0, (uint16_t*)arg, sizeof(struct pwm_output_values)/sizeof(uint16_t));
if (ret != OK) {
ret = -EIO;
}
break;
case PWM_SERVO_SET_MIN_PWM: {
struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
warnx("Set min values");
set_min_values(pwm->values, pwm->channel_count);
break;
}
case PWM_SERVO_GET_MIN_PWM:
ret = io_reg_get(PX4IO_PAGE_CONTROL_MIN_PWM, 0, (uint16_t*)arg, sizeof(struct pwm_output_values)/sizeof(uint16_t));
if (ret != OK) {
ret = -EIO;
}
break;
case PWM_SERVO_SET_MAX_PWM: {
struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
set_max_values(pwm->values, pwm->channel_count);
break;
}
case PWM_SERVO_GET_MAX_PWM:
ret = io_reg_get(PX4IO_PAGE_CONTROL_MAX_PWM, 0, (uint16_t*)arg, sizeof(struct pwm_output_values)/sizeof(uint16_t));
if (ret != OK) {
ret = -EIO;
}
break;
case PWM_SERVO_GET_COUNT:
@@ -2448,5 +2486,5 @@ px4io_main(int argc, char *argv[])
bind(argc, argv);
out:
errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug',\n 'recovery', 'limit', 'current', 'failsafe', 'min, 'max',\n 'idle', 'bind' or 'update'");
errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug',\n 'recovery', 'limit', 'current', 'failsafe', 'bind' or 'update'");
}