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PX4-Autopilot/src/drivers/dshot/dshot.cpp
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Daniel Agar 21a8d7db7f WorkItem modules: Run() shouldn't be public
2020-01-22 12:03:03 -05:00

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/****************************************************************************
*
* Copyright (c) 2019 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 <float.h>
#include <math.h>
#include <board_config.h>
#include <drivers/device/device.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_input_capture.h>
#include <drivers/drv_mixer.h>
#include <drivers/drv_pwm_output.h>
#include <lib/cdev/CDev.hpp>
#include <lib/mathlib/mathlib.h>
#include <lib/mixer_module/mixer_module.hpp>
#include <lib/parameters/param.h>
#include <lib/perf/perf_counter.h>
#include <px4_arch/dshot.h>
#include <px4_platform_common/atomic.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/multirotor_motor_limits.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/esc_status.h>
#include "telemetry.h"
using namespace time_literals;
/** Mode given via CLI */
enum PortMode {
PORT_MODE_UNSET = 0,
PORT_FULL_GPIO,
PORT_FULL_PWM,
PORT_PWM8,
PORT_PWM6,
PORT_PWM5,
PORT_PWM4,
PORT_PWM3,
PORT_PWM2,
PORT_PWM1,
PORT_PWM3CAP1,
PORT_PWM4CAP1,
PORT_PWM4CAP2,
PORT_PWM5CAP1,
PORT_PWM2CAP2,
PORT_CAPTURE,
};
#if !defined(BOARD_HAS_PWM)
# error "board_config.h needs to define BOARD_HAS_PWM"
#endif
class DShotOutput : public cdev::CDev, public ModuleBase<DShotOutput>, public OutputModuleInterface
{
public:
enum Mode {
MODE_NONE,
MODE_1PWM,
MODE_2PWM,
MODE_2PWM2CAP,
MODE_3PWM,
MODE_3PWM1CAP,
MODE_4PWM,
MODE_4PWM1CAP,
MODE_4PWM2CAP,
MODE_5PWM,
MODE_5PWM1CAP,
MODE_6PWM,
MODE_8PWM,
MODE_14PWM,
MODE_4CAP,
MODE_5CAP,
MODE_6CAP,
};
DShotOutput();
virtual ~DShotOutput();
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
/** @see ModuleBase::print_status() */
int print_status() override;
/** change the mode of the running module */
static int module_new_mode(PortMode new_mode);
virtual int ioctl(file *filp, int cmd, unsigned long arg);
virtual int init();
int set_mode(Mode mode);
Mode get_mode() { return _mode; }
static void capture_trampoline(void *context, uint32_t chan_index,
hrt_abstime edge_time, uint32_t edge_state,
uint32_t overflow);
bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated) override;
void mixerChanged() override;
/**
* Send a dshot command to one or all motors
* This is expected to be called from another thread.
* @param num_repetitions number of times to repeat, set at least to 1
* @param motor_index index or -1 for all
* @return 0 on success, <0 error otherwise
*/
int sendCommandThreadSafe(dshot_command_t command, int num_repetitions, int motor_index);
void retrieveAndPrintESCInfoThreadSafe(int motor_index);
bool telemetryEnabled() const { return _telemetry != nullptr; }
private:
void Run() override;
static constexpr uint16_t DISARMED_VALUE = 0;
enum class DShotConfig {
Disabled = 0,
DShot150 = 150,
DShot300 = 300,
DShot600 = 600,
DShot1200 = 1200,
};
struct Command {
dshot_command_t command;
int num_repetitions{0};
uint8_t motor_mask{0xff};
bool valid() const { return num_repetitions > 0; }
void clear() { num_repetitions = 0; }
};
struct Telemetry {
DShotTelemetry handler;
uORB::PublicationData<esc_status_s> esc_status_pub{ORB_ID(esc_status)};
int last_motor_index{-1};
};
void updateTelemetryNumMotors();
void initTelemetry(const char *device);
void handleNewTelemetryData(int motor_index, const DShotTelemetry::EscData &data);
int requestESCInfo();
MixingOutput _mixing_output{DIRECT_PWM_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
Telemetry *_telemetry{nullptr};
static char _telemetry_device[20];
static px4::atomic_bool _request_telemetry_init;
px4::atomic<DShotTelemetry::OutputBuffer *> _request_esc_info{nullptr};
bool _waiting_for_esc_info{false};
Mode _mode{MODE_NONE};
uORB::Subscription _param_sub{ORB_ID(parameter_update)};
Command _current_command;
px4::atomic<Command *> _new_command{nullptr};
unsigned _num_outputs{0};
int _class_instance{-1};
bool _outputs_on{false};
uint32_t _output_mask{0};
bool _outputs_initialized{false};
perf_counter_t _cycle_perf;
void capture_callback(uint32_t chan_index,
hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);
int pwm_ioctl(file *filp, int cmd, unsigned long arg);
void update_dshot_out_state(bool on);
void update_params();
int capture_ioctl(file *filp, int cmd, unsigned long arg);
DShotOutput(const DShotOutput &) = delete;
DShotOutput operator=(const DShotOutput &) = delete;
DEFINE_PARAMETERS(
(ParamInt<px4::params::DSHOT_CONFIG>) _param_dshot_config,
(ParamFloat<px4::params::DSHOT_MIN>) _param_dshot_min,
(ParamInt<px4::params::MOT_POLE_COUNT>) _param_mot_pole_count
)
};
char DShotOutput::_telemetry_device[] {};
px4::atomic_bool DShotOutput::_request_telemetry_init{false};
DShotOutput::DShotOutput() :
CDev("/dev/dshot"),
OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default),
_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
{
_mixing_output.setAllDisarmedValues(DISARMED_VALUE);
_mixing_output.setAllMinValues(DISARMED_VALUE + 1);
_mixing_output.setAllMaxValues(DSHOT_MAX_THROTTLE);
}
DShotOutput::~DShotOutput()
{
/* make sure outputs are off */
up_dshot_arm(false);
/* clean up the alternate device node */
unregister_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH, _class_instance);
perf_free(_cycle_perf);
delete _telemetry;
}
int
DShotOutput::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);
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* lets not be too verbose */
} else if (_class_instance < 0) {
PX4_ERR("FAILED registering class device");
}
_mixing_output.setDriverInstance(_class_instance);
// Getting initial parameter values
update_params();
ScheduleNow();
return 0;
}
int
DShotOutput::set_mode(Mode mode)
{
unsigned old_mask = _output_mask;
/*
* Configure for output.
*
* Note that regardless of the configured mode, the task is always
* listening and mixing; the mode just selects which of the channels
* are presented on the output pins.
*/
switch (mode) {
case MODE_1PWM:
/* default output rates */
_output_mask = 0x1;
_outputs_initialized = false;
_num_outputs = 1;
break;
#if defined(BOARD_HAS_CAPTURE)
case MODE_2PWM2CAP: // v1 multi-port with flow control lines as PWM
up_input_capture_set(2, Rising, 0, NULL, NULL);
up_input_capture_set(3, Rising, 0, NULL, NULL);
PX4_DEBUG("MODE_2PWM2CAP");
#endif
/* FALLTHROUGH */
case MODE_2PWM: // v1 multi-port with flow control lines as PWM
PX4_DEBUG("MODE_2PWM");
/* default output rates */
_output_mask = 0x3;
_outputs_initialized = false;
_num_outputs = 2;
break;
#if defined(BOARD_HAS_CAPTURE)
case MODE_3PWM1CAP: // v1 multi-port with flow control lines as PWM
PX4_DEBUG("MODE_3PWM1CAP");
up_input_capture_set(3, Rising, 0, NULL, NULL);
#endif
/* FALLTHROUGH */
case MODE_3PWM: // v1 multi-port with flow control lines as PWM
PX4_DEBUG("MODE_3PWM");
/* default output rates */
_output_mask = 0x7;
_outputs_initialized = false;
_num_outputs = 3;
break;
#if defined(BOARD_HAS_CAPTURE)
case MODE_4PWM1CAP:
PX4_DEBUG("MODE_4PWM1CAP");
up_input_capture_set(4, Rising, 0, NULL, NULL);
#endif
/* FALLTHROUGH */
case MODE_4PWM: // v1 or v2 multi-port as 4 PWM outs
PX4_DEBUG("MODE_4PWM");
/* default output rates */
_output_mask = 0xf;
_outputs_initialized = false;
_num_outputs = 4;
break;
#if defined(BOARD_HAS_CAPTURE)
case MODE_4PWM2CAP:
PX4_DEBUG("MODE_4PWM2CAP");
up_input_capture_set(5, Rising, 0, NULL, NULL);
/* default output rates */
_output_mask = 0x0f;
_outputs_initialized = false;
_num_outputs = 4;
break;
#endif
#if defined(BOARD_HAS_CAPTURE)
case MODE_5PWM1CAP:
PX4_DEBUG("MODE_5PWM1CAP");
up_input_capture_set(5, Rising, 0, NULL, NULL);
#endif
/* FALLTHROUGH */
case MODE_5PWM: // v1 or v2 multi-port as 5 PWM outs
PX4_DEBUG("MODE_5PWM");
/* default output rates */
_output_mask = 0x1f;
_outputs_initialized = false;
_num_outputs = 4;
break;
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
case MODE_6PWM:
PX4_DEBUG("MODE_6PWM");
/* default output rates */
_output_mask = 0x3f;
_outputs_initialized = false;
_num_outputs = 6;
break;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
case MODE_8PWM: // AeroCore PWMs as 8 PWM outs
PX4_DEBUG("MODE_8PWM");
/* default output rates */
_output_mask = 0xff;
_outputs_initialized = false;
_num_outputs = 8;
break;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14
case MODE_14PWM:
PX4_DEBUG("MODE_14PWM");
/* default output rates */
_output_mask = 0x3fff;
_outputs_initialized = false;
_num_outputs = 14;
break;
#endif
case MODE_NONE:
PX4_DEBUG("MODE_NONE");
_output_mask = 0x0;
_outputs_initialized = false;
_num_outputs = 0;
if (old_mask != _output_mask) {
/* disable motor outputs */
update_dshot_out_state(false);
}
break;
default:
return -EINVAL;
}
_mode = mode;
return OK;
}
int
DShotOutput::task_spawn(int argc, char *argv[])
{
DShotOutput *instance = new DShotOutput();
if (instance) {
_object.store(instance);
_task_id = task_id_is_work_queue;
if (instance->init() == PX4_OK) {
return PX4_OK;
}
} else {
PX4_ERR("alloc failed");
}
delete instance;
_object.store(nullptr);
_task_id = -1;
return PX4_ERROR;
}
void
DShotOutput::capture_trampoline(void *context, uint32_t chan_index,
hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow)
{
DShotOutput *dev = static_cast<DShotOutput *>(context);
dev->capture_callback(chan_index, edge_time, edge_state, overflow);
}
void
DShotOutput::capture_callback(uint32_t chan_index,
hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow)
{
fprintf(stdout, "DShot: Capture chan:%d time:%lld state:%d overflow:%d\n", chan_index, edge_time, edge_state, overflow);
}
void
DShotOutput::update_dshot_out_state(bool on)
{
if (on && !_outputs_initialized && _output_mask != 0) {
DShotConfig config = (DShotConfig)_param_dshot_config.get();
unsigned dshot_frequency;
switch (config) {
case DShotConfig::DShot150:
dshot_frequency = DSHOT150;
break;
case DShotConfig::DShot300:
dshot_frequency = DSHOT300;
break;
case DShotConfig::DShot1200:
dshot_frequency = DSHOT1200;
break;
case DShotConfig::DShot600:
default:
dshot_frequency = DSHOT600;
break;
}
int ret = up_dshot_init(_output_mask, dshot_frequency);
if (ret != 0) {
PX4_ERR("up_dshot_init failed (%i)", ret);
return;
}
_outputs_initialized = true;
}
if (_outputs_initialized) {
up_dshot_arm(on);
_outputs_on = on;
}
}
void DShotOutput::updateTelemetryNumMotors()
{
if (!_telemetry) {
return;
}
int motor_count = 0;
if (_mixing_output.mixers()) {
motor_count = _mixing_output.mixers()->get_multirotor_count();
}
_telemetry->handler.setNumMotors(motor_count);
}
void DShotOutput::initTelemetry(const char *device)
{
if (!_telemetry) {
_telemetry = new Telemetry{};
if (!_telemetry) {
PX4_ERR("alloc failed");
return;
}
}
int ret = _telemetry->handler.init(device);
if (ret != 0) {
PX4_ERR("telemetry init failed (%i)", ret);
}
updateTelemetryNumMotors();
}
void DShotOutput::handleNewTelemetryData(int motor_index, const DShotTelemetry::EscData &data)
{
// fill in new motor data
esc_status_s &esc_status = _telemetry->esc_status_pub.get();
if (motor_index < esc_status_s::CONNECTED_ESC_MAX) {
esc_status.esc_online_flags |= 1 << motor_index;
esc_status.esc[motor_index].timestamp = data.time;
esc_status.esc[motor_index].esc_rpm = ((int)data.erpm * 100) / (_param_mot_pole_count.get() / 2);
esc_status.esc[motor_index].esc_voltage = (float)data.voltage * 0.01f;
esc_status.esc[motor_index].esc_current = (float)data.current * 0.01f;
esc_status.esc[motor_index].esc_temperature = data.temperature;
// TODO: accumulate consumption and use for battery estimation
}
// publish when motor index wraps (which is robust against motor timeouts)
if (motor_index <= _telemetry->last_motor_index) {
esc_status.timestamp = hrt_absolute_time();
esc_status.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_DSHOT;
esc_status.esc_count = _telemetry->handler.numMotors();
++esc_status.counter;
// FIXME: mark all ESC's as online, otherwise commander complains even for a single dropout
esc_status.esc_online_flags = (1 << esc_status.esc_count) - 1;
_telemetry->esc_status_pub.update();
// reset esc data (in case a motor times out, so we won't send stale data)
memset(&esc_status.esc, 0, sizeof(_telemetry->esc_status_pub.get().esc));
esc_status.esc_online_flags = 0;
}
_telemetry->last_motor_index = motor_index;
}
int DShotOutput::sendCommandThreadSafe(dshot_command_t command, int num_repetitions, int motor_index)
{
Command cmd;
cmd.command = command;
if (motor_index == -1) {
cmd.motor_mask = 0xff;
} else {
cmd.motor_mask = 1 << _mixing_output.reorderedMotorIndex(motor_index);
}
cmd.num_repetitions = num_repetitions;
_new_command.store(&cmd);
// wait until main thread processed it
while (_new_command.load()) {
px4_usleep(1000);
}
return 0;
}
void DShotOutput::retrieveAndPrintESCInfoThreadSafe(int motor_index)
{
if (_request_esc_info.load() != nullptr) {
// already in progress (not expected to ever happen)
return;
}
DShotTelemetry::OutputBuffer output_buffer;
output_buffer.motor_index = motor_index;
// start the request
_request_esc_info.store(&output_buffer);
// wait until processed
int max_time = 1000;
while (_request_esc_info.load() != nullptr && max_time-- > 0) {
px4_usleep(1000);
}
_request_esc_info.store(nullptr); // just in case we time out...
if (output_buffer.buf_pos == 0) {
PX4_ERR("No data received. If telemetry is setup correctly, try again");
return;
}
DShotTelemetry::decodeAndPrintEscInfoPacket(output_buffer);
}
int DShotOutput::requestESCInfo()
{
_telemetry->handler.redirectOutput(*_request_esc_info.load());
_waiting_for_esc_info = true;
int motor_index = _mixing_output.reorderedMotorIndex(_request_esc_info.load()->motor_index);
_current_command.motor_mask = 1 << motor_index;
_current_command.num_repetitions = 1;
_current_command.command = DShot_cmd_esc_info;
PX4_DEBUG("Requesting ESC info for motor %i", motor_index);
return motor_index;
}
void DShotOutput::mixerChanged()
{
updateTelemetryNumMotors();
}
bool DShotOutput::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated)
{
if (!_outputs_on) {
return false;
}
int requested_telemetry_index = -1;
if (_telemetry) {
// check for an ESC info request. We only process it when we're not expecting other telemetry data
if (_request_esc_info.load() != nullptr && !_waiting_for_esc_info && stop_motors
&& !_telemetry->handler.expectingData() && !_current_command.valid()) {
requested_telemetry_index = requestESCInfo();
} else {
requested_telemetry_index = _mixing_output.reorderedMotorIndex(_telemetry->handler.getRequestMotorIndex());
}
}
if (stop_motors) {
// when motors are stopped we check if we have other commands to send
for (int i = 0; i < (int)num_outputs; i++) {
if (_current_command.valid() && (_current_command.motor_mask & (1 << i))) {
// for some reason we need to always request telemetry when sending a command
up_dshot_motor_command(i, _current_command.command, true);
} else {
up_dshot_motor_command(i, DShot_cmd_motor_stop, i == requested_telemetry_index);
}
}
if (_current_command.valid()) {
--_current_command.num_repetitions;
}
} else {
for (int i = 0; i < (int)num_outputs; i++) {
if (outputs[i] == DISARMED_VALUE) {
up_dshot_motor_command(i, DShot_cmd_motor_stop, i == requested_telemetry_index);
} else {
up_dshot_motor_data_set(i, math::min(outputs[i], (uint16_t)DSHOT_MAX_THROTTLE), i == requested_telemetry_index);
}
}
// clear commands when motors are running
_current_command.clear();
}
if (stop_motors || num_control_groups_updated > 0) {
up_dshot_trigger();
}
return true;
}
void
DShotOutput::Run()
{
if (should_exit()) {
ScheduleClear();
_mixing_output.unregister();
exit_and_cleanup();
return;
}
perf_begin(_cycle_perf);
_mixing_output.update();
/* update output status if armed or if mixer is loaded */
bool outputs_on = _mixing_output.armed().armed || _mixing_output.mixers();
if (_outputs_on != outputs_on) {
update_dshot_out_state(outputs_on);
}
if (_telemetry) {
int telem_update = _telemetry->handler.update();
// Are we waiting for ESC info?
if (_waiting_for_esc_info) {
if (telem_update != -1) {
_request_esc_info.store(nullptr);
_waiting_for_esc_info = false;
}
} else if (telem_update >= 0) {
handleNewTelemetryData(telem_update, _telemetry->handler.latestESCData());
}
}
if (_param_sub.updated()) {
update_params();
}
// telemetry device update request?
if (_request_telemetry_init.load()) {
initTelemetry(_telemetry_device);
_request_telemetry_init.store(false);
}
// new command?
if (!_current_command.valid()) {
Command *new_command = _new_command.load();
if (new_command) {
_current_command = *new_command;
_new_command.store(nullptr);
}
}
// check at end of cycle (updateSubscriptions() can potentially change to a different WorkQueue thread)
_mixing_output.updateSubscriptions(true);
perf_end(_cycle_perf);
}
void DShotOutput::update_params()
{
parameter_update_s pupdate;
_param_sub.update(&pupdate);
updateParams();
// we use a minimum value of 1, since 0 is for disarmed
_mixing_output.setAllMinValues(math::constrain((int)(_param_dshot_min.get() * (float)DSHOT_MAX_THROTTLE),
DISARMED_VALUE + 1, DSHOT_MAX_THROTTLE));
}
int
DShotOutput::ioctl(file *filp, int cmd, unsigned long arg)
{
int ret;
/* try it as a Capture ioctl next */
ret = capture_ioctl(filp, cmd, arg);
if (ret != -ENOTTY) {
return ret;
}
/* if we are in valid PWM mode, try it as a PWM ioctl as well */
switch (_mode) {
case MODE_1PWM:
case MODE_2PWM:
case MODE_3PWM:
case MODE_4PWM:
case MODE_5PWM:
case MODE_2PWM2CAP:
case MODE_3PWM1CAP:
case MODE_4PWM1CAP:
case MODE_4PWM2CAP:
case MODE_5PWM1CAP:
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
case MODE_6PWM:
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
case MODE_8PWM:
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14
case MODE_14PWM:
#endif
ret = pwm_ioctl(filp, cmd, arg);
break;
default:
PX4_DEBUG("not in a PWM mode");
break;
}
/* if nobody wants it, let CDev have it */
if (ret == -ENOTTY) {
ret = CDev::ioctl(filp, cmd, arg);
}
return ret;
}
int
DShotOutput::pwm_ioctl(file *filp, int cmd, unsigned long arg)
{
int ret = OK;
PX4_DEBUG("dshot ioctl cmd: %d, arg: %ld", cmd, arg);
lock();
switch (cmd) {
case PWM_SERVO_GET_COUNT:
switch (_mode) {
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14
case MODE_14PWM:
*(unsigned *)arg = 14;
break;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
case MODE_8PWM:
*(unsigned *)arg = 8;
break;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
case MODE_6PWM:
*(unsigned *)arg = 6;
break;
#endif
case MODE_5PWM:
case MODE_5PWM1CAP:
*(unsigned *)arg = 5;
break;
case MODE_4PWM:
case MODE_4PWM1CAP:
case MODE_4PWM2CAP:
*(unsigned *)arg = 4;
break;
case MODE_3PWM:
case MODE_3PWM1CAP:
*(unsigned *)arg = 3;
break;
case MODE_2PWM:
case MODE_2PWM2CAP:
*(unsigned *)arg = 2;
break;
case MODE_1PWM:
*(unsigned *)arg = 1;
break;
default:
ret = -EINVAL;
break;
}
break;
case PWM_SERVO_SET_COUNT: {
/* change the number of outputs that are enabled for
* PWM. This is used to change the split between GPIO
* and PWM under control of the flight config
* parameters.
*/
switch (arg) {
case 0:
set_mode(MODE_NONE);
break;
case 1:
set_mode(MODE_1PWM);
break;
case 2:
set_mode(MODE_2PWM);
break;
case 3:
set_mode(MODE_3PWM);
break;
case 4:
set_mode(MODE_4PWM);
break;
case 5:
set_mode(MODE_5PWM);
break;
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >=6
case 6:
set_mode(MODE_6PWM);
break;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >=8
case 8:
set_mode(MODE_8PWM);
break;
#endif
default:
ret = -EINVAL;
break;
}
break;
}
case PWM_SERVO_SET_MODE: {
switch (arg) {
case PWM_SERVO_MODE_NONE:
ret = set_mode(MODE_NONE);
break;
case PWM_SERVO_MODE_1PWM:
ret = set_mode(MODE_1PWM);
break;
case PWM_SERVO_MODE_2PWM:
ret = set_mode(MODE_2PWM);
break;
case PWM_SERVO_MODE_2PWM2CAP:
ret = set_mode(MODE_2PWM2CAP);
break;
case PWM_SERVO_MODE_3PWM:
ret = set_mode(MODE_3PWM);
break;
case PWM_SERVO_MODE_3PWM1CAP:
ret = set_mode(MODE_3PWM1CAP);
break;
case PWM_SERVO_MODE_4PWM:
ret = set_mode(MODE_4PWM);
break;
case PWM_SERVO_MODE_4PWM1CAP:
ret = set_mode(MODE_4PWM1CAP);
break;
case PWM_SERVO_MODE_4PWM2CAP:
ret = set_mode(MODE_4PWM2CAP);
break;
case PWM_SERVO_MODE_5PWM:
ret = set_mode(MODE_5PWM);
break;
case PWM_SERVO_MODE_5PWM1CAP:
ret = set_mode(MODE_5PWM1CAP);
break;
case PWM_SERVO_MODE_6PWM:
ret = set_mode(MODE_6PWM);
break;
case PWM_SERVO_MODE_8PWM:
ret = set_mode(MODE_8PWM);
break;
case PWM_SERVO_MODE_4CAP:
ret = set_mode(MODE_4CAP);
break;
case PWM_SERVO_MODE_5CAP:
ret = set_mode(MODE_5CAP);
break;
case PWM_SERVO_MODE_6CAP:
ret = set_mode(MODE_6CAP);
break;
default:
ret = -EINVAL;
}
break;
}
case MIXERIOCRESET:
_mixing_output.resetMixerThreadSafe();
break;
case MIXERIOCLOADBUF: {
const char *buf = (const char *)arg;
unsigned buflen = strlen(buf);
ret = _mixing_output.loadMixerThreadSafe(buf, buflen);
break;
}
default:
ret = -ENOTTY;
break;
}
unlock();
return ret;
}
int
DShotOutput::capture_ioctl(struct file *filp, int cmd, unsigned long arg)
{
int ret = -EINVAL;
#if defined(BOARD_HAS_CAPTURE)
lock();
input_capture_config_t *pconfig = 0;
input_capture_stats_t *stats = (input_capture_stats_t *)arg;
if (_mode == MODE_3PWM1CAP || _mode == MODE_2PWM2CAP ||
_mode == MODE_4PWM1CAP || _mode == MODE_5PWM1CAP ||
_mode == MODE_4PWM2CAP) {
pconfig = (input_capture_config_t *)arg;
}
switch (cmd) {
case INPUT_CAP_SET:
if (pconfig) {
ret = up_input_capture_set(pconfig->channel, pconfig->edge, pconfig->filter,
pconfig->callback, pconfig->context);
}
break;
case INPUT_CAP_SET_CALLBACK:
if (pconfig) {
ret = up_input_capture_set_callback(pconfig->channel, pconfig->callback, pconfig->context);
}
break;
case INPUT_CAP_GET_CALLBACK:
if (pconfig) {
ret = up_input_capture_get_callback(pconfig->channel, &pconfig->callback, &pconfig->context);
}
break;
case INPUT_CAP_GET_STATS:
if (arg) {
ret = up_input_capture_get_stats(stats->chan_in_edges_out, stats, false);
}
break;
case INPUT_CAP_GET_CLR_STATS:
if (arg) {
ret = up_input_capture_get_stats(stats->chan_in_edges_out, stats, true);
}
break;
case INPUT_CAP_SET_EDGE:
if (pconfig) {
ret = up_input_capture_set_trigger(pconfig->channel, pconfig->edge);
}
break;
case INPUT_CAP_GET_EDGE:
if (pconfig) {
ret = up_input_capture_get_trigger(pconfig->channel, &pconfig->edge);
}
break;
case INPUT_CAP_SET_FILTER:
if (pconfig) {
ret = up_input_capture_set_filter(pconfig->channel, pconfig->filter);
}
break;
case INPUT_CAP_GET_FILTER:
if (pconfig) {
ret = up_input_capture_get_filter(pconfig->channel, &pconfig->filter);
}
break;
case INPUT_CAP_GET_COUNT:
ret = OK;
switch (_mode) {
case MODE_5PWM1CAP:
case MODE_4PWM1CAP:
case MODE_3PWM1CAP:
*(unsigned *)arg = 1;
break;
case MODE_2PWM2CAP:
case MODE_4PWM2CAP:
*(unsigned *)arg = 2;
break;
default:
ret = -EINVAL;
break;
}
break;
case INPUT_CAP_SET_COUNT:
ret = OK;
switch (_mode) {
case MODE_3PWM1CAP:
set_mode(MODE_3PWM1CAP);
break;
case MODE_2PWM2CAP:
set_mode(MODE_2PWM2CAP);
break;
case MODE_4PWM1CAP:
set_mode(MODE_4PWM1CAP);
break;
case MODE_4PWM2CAP:
set_mode(MODE_4PWM2CAP);
break;
case MODE_5PWM1CAP:
set_mode(MODE_5PWM1CAP);
break;
default:
ret = -EINVAL;
break;
}
break;
default:
ret = -ENOTTY;
break;
}
unlock();
#else
ret = -ENOTTY;
#endif
return ret;
}
int
DShotOutput::module_new_mode(PortMode new_mode)
{
if (!is_running()) {
return -1;
}
DShotOutput::Mode mode;
mode = DShotOutput::MODE_NONE;
switch (new_mode) {
case PORT_FULL_GPIO:
case PORT_MODE_UNSET:
break;
case PORT_FULL_PWM:
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 4
/* select 4-pin PWM mode */
mode = DShotOutput::MODE_4PWM;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 5
mode = DShotOutput::MODE_5PWM;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 6
mode = DShotOutput::MODE_6PWM;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 8
mode = DShotOutput::MODE_8PWM;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 14
mode = DShotOutput::MODE_14PWM;
#endif
break;
case PORT_PWM1:
/* select 2-pin PWM mode */
mode = DShotOutput::MODE_1PWM;
break;
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
case PORT_PWM8:
/* select 8-pin PWM mode */
mode = DShotOutput::MODE_8PWM;
break;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
case PORT_PWM6:
/* select 6-pin PWM mode */
mode = DShotOutput::MODE_6PWM;
break;
case PORT_PWM5:
/* select 5-pin PWM mode */
mode = DShotOutput::MODE_5PWM;
break;
# if defined(BOARD_HAS_CAPTURE)
case PORT_PWM5CAP1:
/* select 5-pin PWM mode 1 capture */
mode = DShotOutput::MODE_5PWM1CAP;
break;
# endif
case PORT_PWM4:
/* select 4-pin PWM mode */
mode = DShotOutput::MODE_4PWM;
break;
# if defined(BOARD_HAS_CAPTURE)
case PORT_PWM4CAP1:
/* select 4-pin PWM mode 1 capture */
mode = DShotOutput::MODE_4PWM1CAP;
break;
case PORT_PWM4CAP2:
/* select 4-pin PWM mode 2 capture */
mode = DShotOutput::MODE_4PWM2CAP;
break;
# endif
case PORT_PWM3:
/* select 3-pin PWM mode */
mode = DShotOutput::MODE_3PWM;
break;
# if defined(BOARD_HAS_CAPTURE)
case PORT_PWM3CAP1:
/* select 3-pin PWM mode 1 capture */
mode = DShotOutput::MODE_3PWM1CAP;
break;
# endif
case PORT_PWM2:
/* select 2-pin PWM mode */
mode = DShotOutput::MODE_2PWM;
break;
# if defined(BOARD_HAS_CAPTURE)
case PORT_PWM2CAP2:
/* select 2-pin PWM mode 2 capture */
mode = DShotOutput::MODE_2PWM2CAP;
break;
# endif
#endif
default:
return -1;
}
DShotOutput *object = get_instance();
if (mode != object->get_mode()) {
/* (re)set the output mode */
object->set_mode(mode);
}
return OK;
}
int DShotOutput::custom_command(int argc, char *argv[])
{
PortMode new_mode = PORT_MODE_UNSET;
const char *verb = argv[0];
if (!strcmp(verb, "telemetry")) {
if (argc > 1) {
// telemetry can be requested before the module is started
strncpy(_telemetry_device, argv[1], sizeof(_telemetry_device) - 1);
_telemetry_device[sizeof(_telemetry_device) - 1] = '\0';
_request_telemetry_init.store(true);
}
return 0;
}
int motor_index = -1; // select motor index, default: -1=all
int myoptind = 1;
int ch;
const char *myoptarg = nullptr;
while ((ch = px4_getopt(argc, argv, "m:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'm':
motor_index = strtol(myoptarg, nullptr, 10) - 1;
break;
default:
return print_usage("unrecognized flag");
}
}
struct Command {
const char *name;
dshot_command_t command;
int num_repetitions;
};
constexpr Command commands[] = {
{"reverse", DShot_cmd_spin_direction_reversed, 10},
{"normal", DShot_cmd_spin_direction_normal, 10},
{"save", DShot_cmd_save_settings, 10},
{"3d_on", DShot_cmd_3d_mode_on, 10},
{"3d_off", DShot_cmd_3d_mode_off, 10},
{"beep1", DShot_cmd_beacon1, 1},
{"beep2", DShot_cmd_beacon2, 1},
{"beep3", DShot_cmd_beacon3, 1},
{"beep4", DShot_cmd_beacon4, 1},
{"beep5", DShot_cmd_beacon5, 1},
};
for (unsigned i = 0; i < sizeof(commands) / sizeof(commands[0]); ++i) {
if (!strcmp(verb, commands[i].name)) {
if (!is_running()) {
PX4_ERR("module not running");
return -1;
}
return get_instance()->sendCommandThreadSafe(commands[i].command, commands[i].num_repetitions, motor_index);
}
}
if (!strcmp(verb, "esc_info")) {
if (!is_running()) {
PX4_ERR("module not running");
return -1;
}
if (motor_index == -1) {
PX4_ERR("No motor index specified");
return -1;
}
if (!get_instance()->telemetryEnabled()) {
PX4_ERR("Telemetry is not enabled, but required to get ESC info");
return -1;
}
get_instance()->retrieveAndPrintESCInfoThreadSafe(motor_index);
return 0;
}
if (!is_running()) {
int ret = DShotOutput::task_spawn(argc, argv);
if (ret) {
return ret;
}
}
/*
* Mode switches.
*/
if (!strcmp(verb, "mode_gpio")) {
new_mode = PORT_FULL_GPIO;
} else if (!strcmp(verb, "mode_pwm")) {
new_mode = PORT_FULL_PWM;
// mode: defines which outputs to drive (others may be used by other tasks such as camera capture)
#if defined(BOARD_HAS_PWM)
} else if (!strcmp(verb, "mode_pwm1")) {
new_mode = PORT_PWM1;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
} else if (!strcmp(verb, "mode_pwm6")) {
new_mode = PORT_PWM6;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 5
} else if (!strcmp(verb, "mode_pwm5")) {
new_mode = PORT_PWM5;
# if defined(BOARD_HAS_CAPTURE)
} else if (!strcmp(verb, "mode_pwm5cap1")) {
new_mode = PORT_PWM5CAP1;
# endif
} else if (!strcmp(verb, "mode_pwm4")) {
new_mode = PORT_PWM4;
# if defined(BOARD_HAS_CAPTURE)
} else if (!strcmp(verb, "mode_pwm4cap1")) {
new_mode = PORT_PWM4CAP1;
} else if (!strcmp(verb, "mode_pwm4cap2")) {
new_mode = PORT_PWM4CAP2;
# endif
} else if (!strcmp(verb, "mode_pwm3")) {
new_mode = PORT_PWM3;
# if defined(BOARD_HAS_CAPTURE)
} else if (!strcmp(verb, "mode_pwm3cap1")) {
new_mode = PORT_PWM3CAP1;
# endif
} else if (!strcmp(verb, "mode_pwm2")) {
new_mode = PORT_PWM2;
# if defined(BOARD_HAS_CAPTURE)
} else if (!strcmp(verb, "mode_pwm2cap2")) {
new_mode = PORT_PWM2CAP2;
# endif
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
} else if (!strcmp(verb, "mode_pwm8")) {
new_mode = PORT_PWM8;
#endif
}
/* was a new mode set? */
if (new_mode != PORT_MODE_UNSET) {
/* switch modes */
return DShotOutput::module_new_mode(new_mode);
}
return print_usage("unknown command");
}
int DShotOutput::print_status()
{
const char *mode_str = nullptr;
switch (_mode) {
case MODE_NONE: mode_str = "no outputs"; break;
case MODE_1PWM: mode_str = "outputs1"; break;
case MODE_2PWM: mode_str = "outputs2"; break;
case MODE_2PWM2CAP: mode_str = "outputs2cap2"; break;
case MODE_3PWM: mode_str = "outputs3"; break;
case MODE_3PWM1CAP: mode_str = "outputs3cap1"; break;
case MODE_4PWM: mode_str = "outputs4"; break;
case MODE_4PWM1CAP: mode_str = "outputs4cap1"; break;
case MODE_4PWM2CAP: mode_str = "outputs4cap2"; break;
case MODE_5PWM: mode_str = "outputs5"; break;
case MODE_5PWM1CAP: mode_str = "outputs5cap1"; break;
case MODE_6PWM: mode_str = "outputs6"; break;
case MODE_8PWM: mode_str = "outputs8"; break;
case MODE_4CAP: mode_str = "cap4"; break;
case MODE_5CAP: mode_str = "cap5"; break;
case MODE_6CAP: mode_str = "cap6"; break;
default:
break;
}
if (mode_str) {
PX4_INFO("Mode: %s", mode_str);
}
PX4_INFO("Outputs initialized: %s", _outputs_initialized ? "yes" : "no");
PX4_INFO("Outputs on: %s", _outputs_on ? "yes" : "no");
perf_print_counter(_cycle_perf);
_mixing_output.printStatus();
if (_telemetry) {
PX4_INFO("telemetry on: %s", _telemetry_device);
_telemetry->handler.printStatus();
}
return 0;
}
int DShotOutput::print_usage(const char *reason)
{
if (reason) {
PX4_WARN("%s\n", reason);
}
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
This is the DShot output driver. It is similar to the fmu driver, and can be used as drop-in replacement
to use DShot as ESC communication protocol instead of PWM.
It supports:
- DShot150, DShot300, DShot600, DShot1200
- telemetry via separate UART and publishing as esc_status message
- sending DShot commands via CLI
### Examples
Permanently reverse motor 1:
$ dshot reverse -m 1
$ dshot save -m 1
After saving, the reversed direction will be regarded as the normal one. So to reverse again repeat the same commands.
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("dshot", "driver");
PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the task (without any mode set, use any of the mode_* cmds)");
PRINT_MODULE_USAGE_PARAM_COMMENT("All of the mode_* commands will start the module if not running already");
PRINT_MODULE_USAGE_COMMAND("mode_gpio");
PRINT_MODULE_USAGE_COMMAND_DESCR("mode_pwm", "Select all available pins as PWM");
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
PRINT_MODULE_USAGE_COMMAND("mode_pwm8");
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
PRINT_MODULE_USAGE_COMMAND("mode_pwm6");
PRINT_MODULE_USAGE_COMMAND("mode_pwm5");
PRINT_MODULE_USAGE_COMMAND("mode_pwm5cap1");
PRINT_MODULE_USAGE_COMMAND("mode_pwm4");
PRINT_MODULE_USAGE_COMMAND("mode_pwm4cap1");
PRINT_MODULE_USAGE_COMMAND("mode_pwm4cap2");
PRINT_MODULE_USAGE_COMMAND("mode_pwm3");
PRINT_MODULE_USAGE_COMMAND("mode_pwm3cap1");
PRINT_MODULE_USAGE_COMMAND("mode_pwm2");
PRINT_MODULE_USAGE_COMMAND("mode_pwm2cap2");
#endif
#if defined(BOARD_HAS_PWM)
PRINT_MODULE_USAGE_COMMAND("mode_pwm1");
#endif
PRINT_MODULE_USAGE_COMMAND_DESCR("telemetry", "Enable Telemetry on a UART");
PRINT_MODULE_USAGE_ARG("<device>", "UART device", false);
// DShot commands
PRINT_MODULE_USAGE_COMMAND_DESCR("reverse", "Reverse motor direction");
PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 16, "Motor index (1-based, default=all)", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("normal", "Normal motor direction");
PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 16, "Motor index (1-based, default=all)", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("save", "Save current settings");
PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 16, "Motor index (1-based, default=all)", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("3d_on", "Enable 3D mode");
PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 16, "Motor index (1-based, default=all)", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("3d_off", "Disable 3D mode");
PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 16, "Motor index (1-based, default=all)", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("beep1", "Send Beep pattern 1");
PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 16, "Motor index (1-based, default=all)", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("beep2", "Send Beep pattern 2");
PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 16, "Motor index (1-based, default=all)", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("beep3", "Send Beep pattern 3");
PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 16, "Motor index (1-based, default=all)", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("beep4", "Send Beep pattern 4");
PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 16, "Motor index (1-based, default=all)", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("beep5", "Send Beep pattern 5");
PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 16, "Motor index (1-based, default=all)", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("esc_info", "Request ESC information");
PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 16, "Motor index (1-based)", false);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;
}
extern "C" __EXPORT int dshot_main(int argc, char *argv[])
{
return DShotOutput::main(argc, argv);
}
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