mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-07 09:40:35 +08:00
Mara Bos
e9fb17c51a
The threads running commands for clients through the Posix daemon used to write to a char buffer through snprintf (etc.) which was then written directly to the file descriptor, whereas in the other case printf (etc.) was used to write to stdout (FILE*). Both versions used some macro's and repeated code to have the same output. This change unifies these two cases by using a FILE* in both cases. The (line) buffering is done by the standard C library's implementation (just like with stdout), and px4_log.c now uses the same code in all cases (using fprintf, etc.) for printing (colored) output.
110 lines
3.5 KiB
C++
110 lines
3.5 KiB
C++
/****************************************************************************
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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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#include "ocpoc_mmap.h"
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#include <px4_log.h>
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#include <fcntl.h>
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#include <sys/mman.h>
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#include <unistd.h>
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using namespace linux_pwm_out;
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#define RCOUT_ZYNQ_PWM_BASE 0x43c00000
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static const int TICK_PER_US = 50;
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static const int FREQUENCY_PWM = 400;
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static const int TICK_PER_S = 50000000;
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OcpocMmapPWMOut::OcpocMmapPWMOut(int max_num_outputs)
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{
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_num_outputs = max_num_outputs;
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if (_num_outputs > MAX_ZYNQ_PWMS) {
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PX4_WARN("number of outputs too large. Setting to %i", MAX_ZYNQ_PWMS);
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_num_outputs = MAX_ZYNQ_PWMS;
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}
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}
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OcpocMmapPWMOut::~OcpocMmapPWMOut()
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{
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if (_shared_mem_cmd) {
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munmap((void *)_shared_mem_cmd, 0x1000);
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}
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}
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unsigned long OcpocMmapPWMOut::freq2tick(uint16_t freq_hz)
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{
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unsigned long duty = TICK_PER_S / (unsigned long)freq_hz;
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return duty;
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}
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int OcpocMmapPWMOut::init()
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{
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uint32_t mem_fd = open(_device, O_RDWR | O_SYNC);
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_shared_mem_cmd = (struct pwm_cmd *) mmap(0, 0x1000, PROT_READ | PROT_WRITE,
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MAP_SHARED, mem_fd, RCOUT_ZYNQ_PWM_BASE);
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close(mem_fd);
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if (_shared_mem_cmd == nullptr) {
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PX4_ERR("initialize pwm pointer failed.");
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return -1;
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}
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for (int i = 0; i < _num_outputs; ++i) {
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_shared_mem_cmd->periodhi[i].period = freq2tick(FREQUENCY_PWM);
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_shared_mem_cmd->periodhi[i].hi = freq2tick(FREQUENCY_PWM) / 2;
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PX4_DEBUG("Output values: %d, %d", _shared_mem_cmd->periodhi[i].period, _shared_mem_cmd->periodhi[i].hi);
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}
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return 0;
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}
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int OcpocMmapPWMOut::send_output_pwm(const uint16_t *pwm, int num_outputs)
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{
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if (num_outputs > _num_outputs) {
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num_outputs = _num_outputs;
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}
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//convert this to duty_cycle in ns
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for (int i = 0; i < num_outputs; ++i) {
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//n = ::asprintf(&data, "%u", pwm[i] * 1000);
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//::write(_pwm_fd[i], data, n);
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_shared_mem_cmd->periodhi[i].hi = TICK_PER_US * pwm[i];
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//printf("ch:%d, val:%d*%d ", ch, period_us, TICK_PER_US);
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}
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return 0;
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}
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