diff --git a/boards/aerotenna/ocpoc/src/CMakeLists.txt b/boards/aerotenna/ocpoc/src/CMakeLists.txt index 42ca05a19b..e3ddbe4dd7 100644 --- a/boards/aerotenna/ocpoc/src/CMakeLists.txt +++ b/boards/aerotenna/ocpoc/src/CMakeLists.txt @@ -32,6 +32,7 @@ ############################################################################ add_library(drivers_board + board_pwm_out.cpp i2c.cpp spi.cpp ) diff --git a/src/drivers/linux_pwm_out/ocpoc_mmap.cpp b/boards/aerotenna/ocpoc/src/board_pwm_out.cpp similarity index 96% rename from src/drivers/linux_pwm_out/ocpoc_mmap.cpp rename to boards/aerotenna/ocpoc/src/board_pwm_out.cpp index f570f2bd50..e94e750f17 100644 --- a/src/drivers/linux_pwm_out/ocpoc_mmap.cpp +++ b/boards/aerotenna/ocpoc/src/board_pwm_out.cpp @@ -31,7 +31,11 @@ * ****************************************************************************/ -#include "ocpoc_mmap.h" +#ifndef MODULE_NAME +#define MODULE_NAME "ocpoc_pwm_out" +#endif + +#include "board_pwm_out.h" #include @@ -39,7 +43,7 @@ #include #include -using namespace linux_pwm_out; +using namespace pwm_out; #define RCOUT_ZYNQ_PWM_BASE 0x43c00000 static const int TICK_PER_US = 50; diff --git a/src/drivers/linux_pwm_out/ocpoc_mmap.h b/boards/aerotenna/ocpoc/src/board_pwm_out.h similarity index 96% rename from src/drivers/linux_pwm_out/ocpoc_mmap.h rename to boards/aerotenna/ocpoc/src/board_pwm_out.h index aa669ce07d..e0a1ccae02 100644 --- a/src/drivers/linux_pwm_out/ocpoc_mmap.h +++ b/boards/aerotenna/ocpoc/src/board_pwm_out.h @@ -33,9 +33,11 @@ #pragma once -#include "common.h" +#include -namespace linux_pwm_out +#define BOARD_PWM_OUT_IMPL OcpocMmapPWMOut + +namespace pwm_out { /** diff --git a/boards/beaglebone/blue/src/CMakeLists.txt b/boards/beaglebone/blue/src/CMakeLists.txt index dfcc348664..6c3896ed4d 100644 --- a/boards/beaglebone/blue/src/CMakeLists.txt +++ b/boards/beaglebone/blue/src/CMakeLists.txt @@ -32,6 +32,7 @@ ############################################################################ px4_add_library(drivers_board + board_pwm_out.cpp i2c.cpp init.cpp spi.cpp diff --git a/src/drivers/linux_pwm_out/bbblue_pwm_rc.cpp b/boards/beaglebone/blue/src/board_pwm_out.cpp similarity index 94% rename from src/drivers/linux_pwm_out/bbblue_pwm_rc.cpp rename to boards/beaglebone/blue/src/board_pwm_out.cpp index b1641c02e2..5b728ddfbc 100644 --- a/src/drivers/linux_pwm_out/bbblue_pwm_rc.cpp +++ b/boards/beaglebone/blue/src/board_pwm_out.cpp @@ -30,7 +30,10 @@ * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ -#ifdef CONFIG_ARCH_BOARD_BEAGLEBONE_BLUE + +#ifndef MODULE_NAME +#define MODULE_NAME "bbblue_pwm_out" +#endif #include #include @@ -39,9 +42,9 @@ #include #include -#include "bbblue_pwm_rc.h" +#include "board_pwm_out.h" -using namespace linux_pwm_out; +using namespace pwm_out; BBBlueRcPWMOut::BBBlueRcPWMOut(int max_num_outputs) : _num_outputs(max_num_outputs) { @@ -79,4 +82,3 @@ int BBBlueRcPWMOut::send_output_pwm(const uint16_t *pwm, int num_outputs) return ret; } -#endif // CONFIG_ARCH_BOARD_BEAGLEBONE_BLUE diff --git a/src/drivers/linux_pwm_out/bbblue_pwm_rc.h b/boards/beaglebone/blue/src/board_pwm_out.h similarity index 95% rename from src/drivers/linux_pwm_out/bbblue_pwm_rc.h rename to boards/beaglebone/blue/src/board_pwm_out.h index df6e91b3de..46d130d42b 100644 --- a/src/drivers/linux_pwm_out/bbblue_pwm_rc.h +++ b/boards/beaglebone/blue/src/board_pwm_out.h @@ -33,9 +33,11 @@ #pragma once -#include "common.h" +#include -namespace linux_pwm_out +#define BOARD_PWM_OUT_IMPL BBBlueRcPWMOut + +namespace pwm_out { /** diff --git a/boards/emlid/navio2/src/CMakeLists.txt b/boards/emlid/navio2/src/CMakeLists.txt index 42ca05a19b..e3ddbe4dd7 100644 --- a/boards/emlid/navio2/src/CMakeLists.txt +++ b/boards/emlid/navio2/src/CMakeLists.txt @@ -32,6 +32,7 @@ ############################################################################ add_library(drivers_board + board_pwm_out.cpp i2c.cpp spi.cpp ) diff --git a/src/drivers/linux_pwm_out/navio_sysfs.cpp b/boards/emlid/navio2/src/board_pwm_out.cpp similarity index 94% rename from src/drivers/linux_pwm_out/navio_sysfs.cpp rename to boards/emlid/navio2/src/board_pwm_out.cpp index 2a9b4e130e..bd6d7a6dc7 100644 --- a/src/drivers/linux_pwm_out/navio_sysfs.cpp +++ b/boards/emlid/navio2/src/board_pwm_out.cpp @@ -30,18 +30,22 @@ * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ +#ifndef MODULE_NAME +#define MODULE_NAME "navio_sysfs_pwm_out" +#endif -#include "navio_sysfs.h" +#include "board_pwm_out.h" #include #include #include #include -using namespace linux_pwm_out; +using namespace pwm_out; -NavioSysfsPWMOut::NavioSysfsPWMOut(const char *device, int max_num_outputs) - : _device(device) +const char NavioSysfsPWMOut::_device[] = "/sys/class/pwm/pwmchip0"; + +NavioSysfsPWMOut::NavioSysfsPWMOut(int max_num_outputs) { if (max_num_outputs > MAX_NUM_PWM) { PX4_WARN("number of outputs too large. Setting to %i", MAX_NUM_PWM); diff --git a/src/drivers/linux_pwm_out/navio_sysfs.h b/boards/emlid/navio2/src/board_pwm_out.h similarity index 92% rename from src/drivers/linux_pwm_out/navio_sysfs.h rename to boards/emlid/navio2/src/board_pwm_out.h index 17b5e9c234..66de6ff9fb 100644 --- a/src/drivers/linux_pwm_out/navio_sysfs.h +++ b/boards/emlid/navio2/src/board_pwm_out.h @@ -33,9 +33,11 @@ #pragma once -#include "common.h" +#include -namespace linux_pwm_out +#define BOARD_PWM_OUT_IMPL NavioSysfsPWMOut + +namespace pwm_out { /** @@ -45,7 +47,7 @@ namespace linux_pwm_out class NavioSysfsPWMOut : public PWMOutBase { public: - NavioSysfsPWMOut(const char *device, int max_num_outputs); + NavioSysfsPWMOut(int max_num_outputs); virtual ~NavioSysfsPWMOut(); int init() override; @@ -61,7 +63,7 @@ private: int _pwm_fd[MAX_NUM_PWM]; int _pwm_num; - const char *_device; + static const char _device[]; }; } diff --git a/boards/px4/raspberrypi/default.cmake b/boards/px4/raspberrypi/default.cmake index 36d812f838..430fbfbb16 100644 --- a/boards/px4/raspberrypi/default.cmake +++ b/boards/px4/raspberrypi/default.cmake @@ -23,7 +23,6 @@ px4_add_board( gps #imu # all available imu drivers imu/invensense/mpu9250 - linux_pwm_out #magnetometer # all available magnetometer drivers magnetometer/hmc5883 pca9685_pwm_out diff --git a/src/drivers/linux_pwm_out/common.h b/platforms/posix/src/px4/common/include/px4_platform/pwm_out_base.h similarity index 97% rename from src/drivers/linux_pwm_out/common.h rename to platforms/posix/src/px4/common/include/px4_platform/pwm_out_base.h index 315e34198f..805615d269 100644 --- a/src/drivers/linux_pwm_out/common.h +++ b/platforms/posix/src/px4/common/include/px4_platform/pwm_out_base.h @@ -35,7 +35,7 @@ #include -namespace linux_pwm_out +namespace pwm_out { /** @@ -54,4 +54,4 @@ public: }; -} /* namespace rpi_pwm_out */ +} /* namespace pwm_out */ diff --git a/posix-configs/bbblue/px4.config b/posix-configs/bbblue/px4.config index 25517b324d..b00a6f2d30 100644 --- a/posix-configs/bbblue/px4.config +++ b/posix-configs/bbblue/px4.config @@ -83,8 +83,8 @@ sleep 1 #rc_input start -d /dev/ttyS4 # default: etc/mixers/quad_x.main.mix, 8 output channels -linux_pwm_out start -p bbblue_rc -m etc/mixers/quad_x.main.mix -#linux_pwm_out start -p bbblue_rc -m etc/mixers/AETRFG.main.mix +linux_pwm_out start -m etc/mixers/quad_x.main.mix +#linux_pwm_out start -m etc/mixers/AETRFG.main.mix logger start -t -b 200 diff --git a/posix-configs/bbblue/px4_fw.config b/posix-configs/bbblue/px4_fw.config index 8ed0816836..26e00c37c6 100644 --- a/posix-configs/bbblue/px4_fw.config +++ b/posix-configs/bbblue/px4_fw.config @@ -78,8 +78,8 @@ sleep 1 rc_input start -d /dev/ttyS4 # default: etc/mixers/quad_x.main.mix, 8 output channels -#linux_pwm_out start -p bbblue_rc -m etc/mixers/quad_x.main.mix -linux_pwm_out start -p bbblue_rc -m etc/mixers/AETRFG.main.mix +#linux_pwm_out start -m etc/mixers/quad_x.main.mix +linux_pwm_out start -m etc/mixers/AETRFG.main.mix logger start -t -b 200 diff --git a/posix-configs/ocpoc/px4.config b/posix-configs/ocpoc/px4.config index e533c2b5a6..09bcafbd1f 100644 --- a/posix-configs/ocpoc/px4.config +++ b/posix-configs/ocpoc/px4.config @@ -45,6 +45,6 @@ mavlink stream -d /dev/ttyPS1 -s ATTITUDE -r 50 rc_input start -d /dev/ttyS2 -linux_pwm_out start -p ocpoc_mmap -m etc/mixers/quad_x.main.mix +linux_pwm_out start -m etc/mixers/quad_x.main.mix logger start -t -b 200 mavlink boot_complete diff --git a/src/drivers/linux_pwm_out/CMakeLists.txt b/src/drivers/linux_pwm_out/CMakeLists.txt index 5d19e2ffc3..38ee56b94a 100644 --- a/src/drivers/linux_pwm_out/CMakeLists.txt +++ b/src/drivers/linux_pwm_out/CMakeLists.txt @@ -36,11 +36,7 @@ px4_add_module( MAIN linux_pwm_out COMPILE_FLAGS SRCS - PCA9685.cpp - navio_sysfs.cpp linux_pwm_out.cpp - ocpoc_mmap.cpp - bbblue_pwm_rc.cpp DEPENDS output_limit ) diff --git a/src/drivers/linux_pwm_out/PCA9685.cpp b/src/drivers/linux_pwm_out/PCA9685.cpp deleted file mode 100644 index 47dd089610..0000000000 --- a/src/drivers/linux_pwm_out/PCA9685.cpp +++ /dev/null @@ -1,193 +0,0 @@ -/**************************************************************************** - * - * 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 -#include -#include -#include -#include /* Standard I/O functions */ -#include -#include -#include -#include -#include -#include - -#include "PCA9685.h" - -#include - -using namespace linux_pwm_out; - -int 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); - return 0; -} - -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; -} diff --git a/src/drivers/linux_pwm_out/PCA9685.h b/src/drivers/linux_pwm_out/PCA9685.h deleted file mode 100644 index 71a58275e9..0000000000 --- a/src/drivers/linux_pwm_out/PCA9685.h +++ /dev/null @@ -1,143 +0,0 @@ -/**************************************************************************** - * - * 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 -#include "common.h" - -namespace linux_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 ? 0 : -1; } - - int send_output_pwm(const uint16_t *pwm, int num_outputs) override; - - - int 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); -}; - -} diff --git a/src/drivers/linux_pwm_out/linux_pwm_out.cpp b/src/drivers/linux_pwm_out/linux_pwm_out.cpp index fd360187f6..78dd4e3b4c 100644 --- a/src/drivers/linux_pwm_out/linux_pwm_out.cpp +++ b/src/drivers/linux_pwm_out/linux_pwm_out.cpp @@ -58,22 +58,16 @@ #include #include -#include "common.h" -#include "navio_sysfs.h" -#include "PCA9685.h" -#include "ocpoc_mmap.h" -#include "bbblue_pwm_rc.h" +#include using namespace time_literals; -namespace linux_pwm_out +namespace pwm_out { static px4_task_t _task_handle = -1; volatile bool _task_should_exit = false; static bool _is_running = false; -static char _device[64] = "/sys/class/pwm/pwmchip0"; -static char _protocol[64] = "navio"; static int _max_num_outputs = 8; ///< maximum number of outputs the driver should use static char _mixer_filename[64] = "etc/mixers/quad_x.main.mix"; @@ -228,27 +222,7 @@ void task_main(int argc, char *argv[]) return; } - PWMOutBase *pwm_out; - - if (strcmp(_protocol, "pca9685") == 0) { - PX4_INFO("Starting PWM output in PCA9685 mode"); - pwm_out = new PCA9685(); - - } else if (strcmp(_protocol, "ocpoc_mmap") == 0) { - PX4_INFO("Starting PWM output in ocpoc_mmap mode"); - pwm_out = new OcpocMmapPWMOut(_max_num_outputs); - -#ifdef CONFIG_ARCH_BOARD_BEAGLEBONE_BLUE - - } else if (strcmp(_protocol, "bbblue_rc") == 0) { - PX4_INFO("Starting PWM output in bbblue_rc mode"); - pwm_out = new BBBlueRcPWMOut(_max_num_outputs); -#endif - - } else { /* navio */ - PX4_INFO("Starting PWM output in Navio mode"); - pwm_out = new NavioSysfsPWMOut(_device, _max_num_outputs); - } + PWMOutBase *pwm_out = new BOARD_PWM_OUT_IMPL(_max_num_outputs); if (pwm_out->init() != 0) { PX4_ERR("PWM output init failed"); @@ -494,20 +468,16 @@ void stop() void usage() { - PX4_INFO("usage: pwm_out start [-d pwmdevice] [-m mixerfile] [-p protocol]"); - PX4_INFO(" -d pwmdevice : sysfs device for pwm generation (only for Navio)"); - PX4_INFO(" (default /sys/class/pwm/pwmchip0)"); + PX4_INFO("usage: linux_pwm_out start [-m mixerfile]"); PX4_INFO(" -m mixerfile : path to mixerfile"); PX4_INFO(" (default etc/mixers/quad_x.main.mix)"); - PX4_INFO(" -p protocol : driver output protocol (navio|pca9685|ocpoc_mmap|bbblue_rc)"); - 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 status"); + PX4_INFO(" linux_pwm_out stop"); + PX4_INFO(" linux_pwm_out status"); } -} // namespace linux_pwm_out +} // namespace pwm_out /* driver 'main' command */ extern "C" __EXPORT int linux_pwm_out_main(int argc, char *argv[]); @@ -527,18 +497,11 @@ int linux_pwm_out_main(int argc, char *argv[]) return 1; } - while ((ch = px4_getopt(argc, argv, "d:m:p:n:", &myoptind, &myoptarg)) != EOF) { + while ((ch = px4_getopt(argc, argv, "m:n:", &myoptind, &myoptarg)) != EOF) { switch (ch) { - case 'd': - strncpy(linux_pwm_out::_device, myoptarg, sizeof(linux_pwm_out::_device) - 1); - break; case 'm': - strncpy(linux_pwm_out::_mixer_filename, myoptarg, sizeof(linux_pwm_out::_mixer_filename) - 1); - break; - - case 'p': - strncpy(linux_pwm_out::_protocol, myoptarg, sizeof(linux_pwm_out::_protocol) - 1); + strncpy(pwm_out::_mixer_filename, myoptarg, sizeof(pwm_out::_mixer_filename) - 1); break; case 'n': { @@ -552,44 +515,44 @@ int linux_pwm_out_main(int argc, char *argv[]) max_num = actuator_outputs_s::NUM_ACTUATOR_OUTPUTS; } - linux_pwm_out::_max_num_outputs = max_num; + pwm_out::_max_num_outputs = max_num; } break; } } /** gets the parameters for the esc's pwm */ - param_get(param_find("PWM_MAIN_DISARM"), &linux_pwm_out::_pwm_disarmed); - param_get(param_find("PWM_MAIN_MIN"), &linux_pwm_out::_pwm_min); - param_get(param_find("PWM_MAIN_MAX"), &linux_pwm_out::_pwm_max); + param_get(param_find("PWM_MAIN_DISARM"), &pwm_out::_pwm_disarmed); + param_get(param_find("PWM_MAIN_MIN"), &pwm_out::_pwm_min); + param_get(param_find("PWM_MAIN_MAX"), &pwm_out::_pwm_max); /* * Start/load the driver. */ if (!strcmp(verb, "start")) { - if (linux_pwm_out::_is_running) { + if (pwm_out::_is_running) { PX4_WARN("pwm_out already running"); return 1; } - linux_pwm_out::start(); + pwm_out::start(); } else if (!strcmp(verb, "stop")) { - if (!linux_pwm_out::_is_running) { + if (!pwm_out::_is_running) { PX4_WARN("pwm_out is not running"); return 1; } - linux_pwm_out::stop(); + pwm_out::stop(); } else if (!strcmp(verb, "status")) { - PX4_WARN("pwm_out is %s", linux_pwm_out::_is_running ? "running" : "not running"); + PX4_WARN("pwm_out is %s", pwm_out::_is_running ? "running" : "not running"); return 0; } else { - linux_pwm_out::usage(); + pwm_out::usage(); return 1; }