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143 lines
4.3 KiB
C++
143 lines
4.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2012-2018 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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#ifndef DRIVERS_PWM_OUT_SIM_PWMSIM_HPP_
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#define DRIVERS_PWM_OUT_SIM_PWMSIM_HPP_
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#include <string.h>
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#include <drivers/device/device.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_mixer.h>
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#include <drivers/drv_pwm_output.h>
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#include <lib/mixer/mixer.h>
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#include <px4_common.h>
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#include <px4_config.h>
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#include <px4_module.h>
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#include <px4_tasks.h>
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#include <px4_time.h>
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#include <uORB/topics/actuator_armed.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/actuator_outputs.h>
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#include <uORB/topics/parameter_update.h>
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class PWMSim : public device::CDev, public ModuleBase<PWMSim>
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{
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static constexpr uint32_t PWM_SIM_DISARMED_MAGIC = 900;
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static constexpr uint32_t PWM_SIM_FAILSAFE_MAGIC = 600;
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static constexpr uint32_t PWM_SIM_PWM_MIN_MAGIC = 1000;
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static constexpr uint32_t PWM_SIM_PWM_MAX_MAGIC = 2000;
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public:
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enum Mode {
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MODE_8PWM,
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MODE_16PWM,
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MODE_NONE
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};
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PWMSim();
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virtual ~PWMSim() = default;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static PWMSim *instantiate(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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/** @see ModuleBase::run() */
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void run() override;
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/** @see ModuleBase::print_status() */
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int print_status() override;
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int ioctl(device::file_t *filp, int cmd, unsigned long arg) override;
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int set_pwm_rate(unsigned rate);
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int set_mode(Mode mode);
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Mode get_mode() { return _mode; }
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private:
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static constexpr unsigned MAX_ACTUATORS = 16;
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Mode _mode{MODE_NONE};
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int _update_rate{400};
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int _current_update_rate{0};
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int _control_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
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px4_pollfd_struct_t _poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
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unsigned _poll_fds_num{0};
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int _armed_sub{-1};
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actuator_outputs_s _actuator_outputs = {};
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orb_advert_t _outputs_pub{nullptr};
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unsigned _num_outputs{0};
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unsigned _pwm_min[MAX_ACTUATORS] {};
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unsigned _pwm_max[MAX_ACTUATORS] {};
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uint32_t _groups_required{0};
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uint32_t _groups_subscribed{0};
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bool _armed{false};
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bool _lockdown{false};
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bool _failsafe{false};
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MixerGroup *_mixers{nullptr};
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actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
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orb_id_t _control_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
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bool _airmode{false}; ///< multicopter air-mode
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static int control_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input);
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void subscribe();
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void update_params();
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};
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#endif /* DRIVERS_PWM_OUT_SIM_PWMSIM_HPP_ */
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