@ -1,6 +1,6 @@
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright ( c ) 2012 - 2019 PX4 Development Team . All rights reserved .
* Copyright ( c ) 2012 - 2020 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
@ -31,184 +31,9 @@
@@ -31,184 +31,9 @@
*
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
/**
* @ file fmu . cpp
*
* Driver / configurator for the PX4 FMU
*/
# include <float.h>
# include <math.h>
# include <board_config.h>
# include <drivers/device/device.h>
# include <drivers/device/i2c.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_platform_common/px4_config.h>
# include <px4_platform_common/getopt.h>
# include <px4_platform_common/log.h>
# include <px4_platform_common/module.h>
# 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>
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
# define PX4FMU_DEVICE_PATH " / dev / px4fmu"
class PX4FMU : public cdev : : CDev , public ModuleBase < PX4FMU > , 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 ,
} ;
PX4FMU ( ) ;
virtual ~ PX4FMU ( ) ;
/** @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 ) ;
void Run ( ) override ;
/** @see ModuleBase::print_status() */
int print_status ( ) override ;
/** change the FMU mode of the running module */
static int fmu_new_mode ( PortMode new_mode ) ;
static int test ( ) ;
static int fake ( int argc , char * argv [ ] ) ;
virtual int ioctl ( file * filp , int cmd , unsigned long arg ) ;
virtual int init ( ) ;
int set_mode ( Mode mode ) ;
Mode get_mode ( ) { return _mode ; }
static int set_i2c_bus_clock ( unsigned bus , unsigned clock_hz ) ;
static void capture_trampoline ( void * context , uint32_t chan_index ,
hrt_abstime edge_time , uint32_t edge_state ,
uint32_t overflow ) ;
# include "PWMOut.hpp"
void update_pwm_trims ( ) ;
bool updateOutputs ( bool stop_motors , uint16_t outputs [ MAX_ACTUATORS ] ,
unsigned num_outputs , unsigned num_control_groups_updated ) override ;
private :
static constexpr int FMU_MAX_ACTUATORS = DIRECT_PWM_OUTPUT_CHANNELS ;
static_assert ( FMU_MAX_ACTUATORS < = MAX_ACTUATORS , " Increase MAX_ACTUATORS if this fails " ) ;
MixingOutput _mixing_output { FMU_MAX_ACTUATORS , * this , MixingOutput : : SchedulingPolicy : : Auto , true } ;
Mode _mode { MODE_NONE } ;
unsigned _pwm_default_rate { 50 } ;
unsigned _pwm_alt_rate { 50 } ;
uint32_t _pwm_alt_rate_channels { 0 } ;
unsigned _current_update_rate { 0 } ;
uORB : : Subscription _parameter_update_sub { ORB_ID ( parameter_update ) } ;
unsigned _num_outputs { 0 } ;
int _class_instance { - 1 } ;
bool _pwm_on { false } ;
uint32_t _pwm_mask { 0 } ;
bool _pwm_initialized { false } ;
bool _test_mode { false } ;
unsigned _num_disarmed_set { 0 } ;
perf_counter_t _cycle_perf ;
void capture_callback ( uint32_t chan_index ,
hrt_abstime edge_time , uint32_t edge_state , uint32_t overflow ) ;
void update_current_rate ( ) ;
int set_pwm_rate ( unsigned rate_map , unsigned default_rate , unsigned alt_rate ) ;
int pwm_ioctl ( file * filp , int cmd , unsigned long arg ) ;
void update_pwm_rev_mask ( ) ;
void update_pwm_out_state ( bool on ) ;
void update_params ( ) ;
static void sensor_reset ( int ms ) ;
static void peripheral_reset ( int ms ) ;
int capture_ioctl ( file * filp , int cmd , unsigned long arg ) ;
PX4FMU ( const PX4FMU & ) = delete ;
PX4FMU operator = ( const PX4FMU & ) = delete ;
} ;
PX4FMU : : PX4FMU ( ) :
PWMOut : : PWMOut ( ) :
CDev ( PX4FMU_DEVICE_PATH ) ,
OutputModuleInterface ( MODULE_NAME , px4 : : wq_configurations : : hp_default ) ,
_cycle_perf ( perf_alloc ( PC_ELAPSED , MODULE_NAME " : cycle " ) )
@ -218,7 +43,7 @@ PX4FMU::PX4FMU() :
@@ -218,7 +43,7 @@ PX4FMU::PX4FMU() :
}
PX4FMU : : ~ PX4FMU ( )
PWMOut : : ~ PWMOut ( )
{
/* make sure servos are off */
up_pwm_servo_deinit ( ) ;
@ -229,8 +54,7 @@ PX4FMU::~PX4FMU()
@@ -229,8 +54,7 @@ PX4FMU::~PX4FMU()
perf_free ( _cycle_perf ) ;
}
int
PX4FMU : : init ( )
int PWMOut : : init ( )
{
/* do regular cdev init */
int ret = CDev : : init ( ) ;
@ -263,8 +87,7 @@ PX4FMU::init()
@@ -263,8 +87,7 @@ PX4FMU::init()
return 0 ;
}
int
PX4FMU : : set_mode ( Mode mode )
int PWMOut : : set_mode ( Mode mode )
{
unsigned old_mask = _pwm_mask ;
@ -489,8 +312,7 @@ PX4FMU::set_mode(Mode mode)
@@ -489,8 +312,7 @@ PX4FMU::set_mode(Mode mode)
* For Oneshot there is no rate , 0 is therefore used
* to select Oneshot mode
*/
int
PX4FMU : : set_pwm_rate ( uint32_t rate_map , unsigned default_rate , unsigned alt_rate )
int PWMOut : : set_pwm_rate ( uint32_t rate_map , unsigned default_rate , unsigned alt_rate )
{
PX4_DEBUG ( " set_pwm_rate %x %u %u " , rate_map , default_rate , alt_rate ) ;
@ -557,14 +379,12 @@ PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate
@@ -557,14 +379,12 @@ PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate
return OK ;
}
int
PX4FMU : : set_i2c_bus_clock ( unsigned bus , unsigned clock_hz )
int PWMOut : : set_i2c_bus_clock ( unsigned bus , unsigned clock_hz )
{
return device : : I2C : : set_bus_clock ( bus , clock_hz ) ;
}
void
PX4FMU : : update_current_rate ( )
void PWMOut : : update_current_rate ( )
{
/*
* Adjust actuator topic update rate to keep up with
@ -586,8 +406,7 @@ PX4FMU::update_current_rate()
@@ -586,8 +406,7 @@ PX4FMU::update_current_rate()
_mixing_output . setMaxTopicUpdateRate ( update_interval_in_us ) ;
}
void
PX4FMU : : update_pwm_rev_mask ( )
void PWMOut : : update_pwm_rev_mask ( )
{
uint16_t & reverse_pwm_mask = _mixing_output . reverseOutputMask ( ) ;
reverse_pwm_mask = 0 ;
@ -620,8 +439,7 @@ PX4FMU::update_pwm_rev_mask()
@@ -620,8 +439,7 @@ PX4FMU::update_pwm_rev_mask()
}
}
void
PX4FMU : : update_pwm_trims ( )
void PWMOut : : update_pwm_trims ( )
{
PX4_DEBUG ( " update_pwm_trims " ) ;
@ -664,10 +482,9 @@ PX4FMU::update_pwm_trims()
@@ -664,10 +482,9 @@ PX4FMU::update_pwm_trims()
PX4_DEBUG ( " set %d trims " , n_out ) ;
}
int
PX4FMU : : task_spawn ( int argc , char * argv [ ] )
int PWMOut : : task_spawn ( int argc , char * argv [ ] )
{
PX4FMU * instance = new PX4FMU ( ) ;
PWMOut * instance = new PWMOut ( ) ;
if ( instance ) {
_object . store ( instance ) ;
@ -688,23 +505,20 @@ PX4FMU::task_spawn(int argc, char *argv[])
@@ -688,23 +505,20 @@ PX4FMU::task_spawn(int argc, char *argv[])
return PX4_ERROR ;
}
void
PX4FMU : : capture_trampoline ( void * context , uint32_t chan_index ,
hrt_abstime edge_time , uint32_t edge_state , uint32_t overflow )
void PWMOut : : capture_trampoline ( void * context , uint32_t chan_index ,
hrt_abstime edge_time , uint32_t edge_state , uint32_t overflow )
{
PX4FMU * dev = static_cast < PX4FMU * > ( context ) ;
PWMOut * dev = static_cast < PWMOut * > ( context ) ;
dev - > capture_callback ( chan_index , edge_time , edge_state , overflow ) ;
}
void
PX4FMU : : capture_callback ( uint32_t chan_index ,
hrt_abstime edge_time , uint32_t edge_state , uint32_t overflow )
void PWMOut : : capture_callback ( uint32_t chan_index ,
hrt_abstime edge_time , uint32_t edge_state , uint32_t overflow )
{
fprintf ( stdout , " FMU: Capture chan:%d time:%lld state:%d overflow:%d \n " , chan_index , edge_time , edge_state , overflow ) ;
}
void
PX4FMU : : update_pwm_out_state ( bool on )
void PWMOut : : update_pwm_out_state ( bool on )
{
if ( on & & ! _pwm_initialized & & _pwm_mask ! = 0 ) {
up_pwm_servo_init ( _pwm_mask ) ;
@ -715,8 +529,7 @@ PX4FMU::update_pwm_out_state(bool on)
@@ -715,8 +529,7 @@ PX4FMU::update_pwm_out_state(bool on)
up_pwm_servo_arm ( on ) ;
}
bool PX4FMU : : updateOutputs ( bool stop_motors , uint16_t outputs [ MAX_ACTUATORS ] ,
bool PWMOut : : updateOutputs ( bool stop_motors , uint16_t outputs [ MAX_ACTUATORS ] ,
unsigned num_outputs , unsigned num_control_groups_updated )
{
if ( _test_mode ) {
@ -740,8 +553,7 @@ bool PX4FMU::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
@@ -740,8 +553,7 @@ bool PX4FMU::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
return true ;
}
void
PX4FMU : : Run ( )
void PWMOut : : Run ( )
{
if ( should_exit ( ) ) {
ScheduleClear ( ) ;
@ -783,7 +595,7 @@ PX4FMU::Run()
@@ -783,7 +595,7 @@ PX4FMU::Run()
perf_end ( _cycle_perf ) ;
}
void PX4FMU : : update_params ( )
void PWMOut : : update_params ( )
{
update_pwm_rev_mask ( ) ;
update_pwm_trims ( ) ;
@ -791,8 +603,7 @@ void PX4FMU::update_params()
@@ -791,8 +603,7 @@ void PX4FMU::update_params()
updateParams ( ) ;
}
int
PX4FMU : : ioctl ( file * filp , int cmd , unsigned long arg )
int PWMOut : : ioctl ( file * filp , int cmd , unsigned long arg )
{
int ret ;
@ -840,12 +651,11 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
@@ -840,12 +651,11 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
return ret ;
}
int
PX4FMU : : pwm_ioctl ( file * filp , int cmd , unsigned long arg )
int PWMOut : : pwm_ioctl ( file * filp , int cmd , unsigned long arg )
{
int ret = OK ;
PX4_DEBUG ( " fmu ioctl cmd: %d, arg: %ld" , cmd , arg ) ;
PX4_DEBUG ( " ioctl cmd: %d, arg: %ld " , cmd , arg ) ;
lock ( ) ;
@ -1490,8 +1300,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
@@ -1490,8 +1300,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
return ret ;
}
void
PX4FMU : : sensor_reset ( int ms )
void PWMOut : : sensor_reset ( int ms )
{
if ( ms < 1 ) {
ms = 1 ;
@ -1500,8 +1309,7 @@ PX4FMU::sensor_reset(int ms)
@@ -1500,8 +1309,7 @@ PX4FMU::sensor_reset(int ms)
board_spi_reset ( ms , 0xffff ) ;
}
void
PX4FMU : : peripheral_reset ( int ms )
void PWMOut : : peripheral_reset ( int ms )
{
if ( ms < 1 ) {
ms = 10 ;
@ -1510,8 +1318,7 @@ PX4FMU::peripheral_reset(int ms)
@@ -1510,8 +1318,7 @@ PX4FMU::peripheral_reset(int ms)
board_peripheral_reset ( ms ) ;
}
int
PX4FMU : : capture_ioctl ( struct file * filp , int cmd , unsigned long arg )
int PWMOut : : capture_ioctl ( struct file * filp , int cmd , unsigned long arg )
{
int ret = - EINVAL ;
@ -1662,16 +1469,15 @@ PX4FMU::capture_ioctl(struct file *filp, int cmd, unsigned long arg)
@@ -1662,16 +1469,15 @@ PX4FMU::capture_ioctl(struct file *filp, int cmd, unsigned long arg)
return ret ;
}
int
PX4FMU : : fmu_new_mode ( PortMode new_mode )
int PWMOut : : fmu_new_mode ( PortMode new_mode )
{
if ( ! is_running ( ) ) {
return - 1 ;
}
PX4FMU : : Mode servo_mode ;
PWMOut : : Mode servo_mode ;
servo_mode = PX4FMU : : MODE_NONE ;
servo_mode = PWMOut : : MODE_NONE ;
switch ( new_mode ) {
case PORT_FULL_GPIO :
@ -1682,44 +1488,44 @@ PX4FMU::fmu_new_mode(PortMode new_mode)
@@ -1682,44 +1488,44 @@ PX4FMU::fmu_new_mode(PortMode new_mode)
# if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 4
/* select 4-pin PWM mode */
servo_mode = PX4FMU : : MODE_4PWM ;
servo_mode = PWMOut : : MODE_4PWM ;
# endif
# if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 5
servo_mode = PX4FMU : : MODE_5PWM ;
servo_mode = PWMOut : : MODE_5PWM ;
# endif
# if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 6
servo_mode = PX4FMU : : MODE_6PWM ;
servo_mode = PWMOut : : MODE_6PWM ;
# endif
# if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 8
servo_mode = PX4FMU : : MODE_8PWM ;
servo_mode = PWMOut : : MODE_8PWM ;
# endif
# if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 14
servo_mode = PX4FMU : : MODE_14PWM ;
servo_mode = PWMOut : : MODE_14PWM ;
# endif
break ;
case PORT_PWM1 :
/* select 2-pin PWM mode */
servo_mode = PX4FMU : : MODE_1PWM ;
servo_mode = PWMOut : : MODE_1PWM ;
break ;
# if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
case PORT_PWM8 :
/* select 8-pin PWM mode */
servo_mode = PX4FMU : : MODE_8PWM ;
servo_mode = PWMOut : : MODE_8PWM ;
break ;
# endif
# if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
case PORT_PWM6 :
/* select 6-pin PWM mode */
servo_mode = PX4FMU : : MODE_6PWM ;
servo_mode = PWMOut : : MODE_6PWM ;
break ;
case PORT_PWM5 :
/* select 5-pin PWM mode */
servo_mode = PX4FMU : : MODE_5PWM ;
servo_mode = PWMOut : : MODE_5PWM ;
break ;
@ -1727,14 +1533,14 @@ PX4FMU::fmu_new_mode(PortMode new_mode)
@@ -1727,14 +1533,14 @@ PX4FMU::fmu_new_mode(PortMode new_mode)
case PORT_PWM5CAP1 :
/* select 5-pin PWM mode 1 capture */
servo_mode = PX4FMU : : MODE_5PWM1CAP ;
servo_mode = PWMOut : : MODE_5PWM1CAP ;
break ;
# endif
case PORT_PWM4 :
/* select 4-pin PWM mode */
servo_mode = PX4FMU : : MODE_4PWM ;
servo_mode = PWMOut : : MODE_4PWM ;
break ;
@ -1742,39 +1548,39 @@ PX4FMU::fmu_new_mode(PortMode new_mode)
@@ -1742,39 +1548,39 @@ PX4FMU::fmu_new_mode(PortMode new_mode)
case PORT_PWM4CAP1 :
/* select 4-pin PWM mode 1 capture */
servo_mode = PX4FMU : : MODE_4PWM1CAP ;
servo_mode = PWMOut : : MODE_4PWM1CAP ;
break ;
case PORT_PWM4CAP2 :
/* select 4-pin PWM mode 2 capture */
servo_mode = PX4FMU : : MODE_4PWM2CAP ;
servo_mode = PWMOut : : MODE_4PWM2CAP ;
break ;
# endif
case PORT_PWM3 :
/* select 3-pin PWM mode */
servo_mode = PX4FMU : : MODE_3PWM ;
servo_mode = PWMOut : : MODE_3PWM ;
break ;
# if defined(BOARD_HAS_CAPTURE)
case PORT_PWM3CAP1 :
/* select 3-pin PWM mode 1 capture */
servo_mode = PX4FMU : : MODE_3PWM1CAP ;
servo_mode = PWMOut : : MODE_3PWM1CAP ;
break ;
# endif
case PORT_PWM2 :
/* select 2-pin PWM mode */
servo_mode = PX4FMU : : MODE_2PWM ;
servo_mode = PWMOut : : MODE_2PWM ;
break ;
# if defined(BOARD_HAS_CAPTURE)
case PORT_PWM2CAP2 :
/* select 2-pin PWM mode 2 capture */
servo_mode = PX4FMU : : MODE_2PWM2CAP ;
servo_mode = PWMOut : : MODE_2PWM2CAP ;
break ;
# endif
@ -1784,7 +1590,7 @@ PX4FMU::fmu_new_mode(PortMode new_mode)
@@ -1784,7 +1590,7 @@ PX4FMU::fmu_new_mode(PortMode new_mode)
return - 1 ;
}
PX4FMU * object = get_instance ( ) ;
PWMOut * object = get_instance ( ) ;
if ( servo_mode ! = object - > get_mode ( ) ) {
/* (re)set the PWM output mode */
@ -1800,13 +1606,12 @@ namespace
@@ -1800,13 +1606,12 @@ namespace
int fmu_new_i2c_speed ( unsigned bus , unsigned clock_hz )
{
return PX4FMU : : set_i2c_bus_clock ( bus , clock_hz ) ;
return PWMOut : : set_i2c_bus_clock ( bus , clock_hz ) ;
}
} // namespace
int
PX4FMU : : test ( )
int PWMOut : : test ( )
{
int fd ;
unsigned servo_count = 0 ;
@ -1862,8 +1667,8 @@ PX4FMU::test()
@@ -1862,8 +1667,8 @@ PX4FMU::test()
} else {
input_capture_config_t conf = capture_conf [ i ] . chan ;
conf . callback = & PX4FMU : : capture_trampoline ;
conf . context = PX4FMU : : get_instance ( ) ;
conf . callback = & PWMOut : : capture_trampoline ;
conf . context = PWMOut : : get_instance ( ) ;
if ( : : ioctl ( fd , INPUT_CAP_SET_CALLBACK , ( unsigned long ) & conf ) = = 0 ) {
capture_conf [ i ] . valid = true ;
@ -1997,8 +1802,7 @@ err_out_no_test:
@@ -1997,8 +1802,7 @@ err_out_no_test:
return rv ;
}
int
PX4FMU : : fake ( int argc , char * argv [ ] )
int PWMOut : : fake ( int argc , char * argv [ ] )
{
if ( argc < 5 ) {
print_usage ( " not enough arguments " ) ;
@ -2040,7 +1844,7 @@ PX4FMU::fake(int argc, char *argv[])
@@ -2040,7 +1844,7 @@ PX4FMU::fake(int argc, char *argv[])
return 0 ;
}
int PX4FMU : : custom_command ( int argc , char * argv [ ] )
int PWMOut : : custom_command ( int argc , char * argv [ ] )
{
PortMode new_mode = PORT_MODE_UNSET ;
const char * verb = argv [ 0 ] ;
@ -2091,7 +1895,7 @@ int PX4FMU::custom_command(int argc, char *argv[])
@@ -2091,7 +1895,7 @@ int PX4FMU::custom_command(int argc, char *argv[])
/* start the FMU if not running */
if ( ! is_running ( ) ) {
int ret = PX4FMU : : task_spawn ( argc , argv ) ;
int ret = PWMOut : : task_spawn ( argc , argv ) ;
if ( ret ) {
return ret ;
@ -2172,7 +1976,7 @@ int PX4FMU::custom_command(int argc, char *argv[])
@@ -2172,7 +1976,7 @@ int PX4FMU::custom_command(int argc, char *argv[])
if ( new_mode ! = PORT_MODE_UNSET ) {
/* switch modes */
return PX4FMU : : fmu_new_mode ( new_mode ) ;
return PWMOut : : fmu_new_mode ( new_mode ) ;
}
if ( ! strcmp ( verb , " test " ) ) {
@ -2186,7 +1990,7 @@ int PX4FMU::custom_command(int argc, char *argv[])
@@ -2186,7 +1990,7 @@ int PX4FMU::custom_command(int argc, char *argv[])
return print_usage ( " unknown command " ) ;
}
int PX4FMU : : print_status ( )
int PWMOut : : print_status ( )
{
PX4_INFO ( " Max update rate: %i Hz " , _current_update_rate ) ;
@ -2239,7 +2043,7 @@ int PX4FMU::print_status()
@@ -2239,7 +2043,7 @@ int PX4FMU::print_status()
return 0 ;
}
int PX4FMU : : print_usage ( const char * reason )
int PWMOut : : print_usage ( const char * reason )
{
if ( reason ) {
PX4_WARN ( " %s \n " , reason ) ;
@ -2256,7 +2060,7 @@ It listens on the actuator_controls topics, does the mixing and writes the PWM o
@@ -2256,7 +2060,7 @@ It listens on the actuator_controls topics, does the mixing and writes the PWM o
The module is configured via mode_ * commands . This defines which of the first N pins the driver should occupy .
By using mode_pwm4 for example , pins 5 and 6 can be used by the camera trigger driver or by a PWM rangefinder
driver . Alternatively , the fmu can be started in one of the capture modes , and then drivers can register a capture
driver . Alternatively , pwm_out can be started in one of the capture modes , and then drivers can register a capture
callback with ioctl calls .
# ## Implementation
@ -2264,22 +2068,22 @@ By default the module runs on a work queue with a callback on the uORB actuator_
@@ -2264,22 +2068,22 @@ By default the module runs on a work queue with a callback on the uORB actuator_
# ## Examples
It is typically started with :
$ fmu mode_pwm
$ pwm_out mode_pwm
To drive all available pins .
Capture input ( rising and falling edges ) and print on the console : start the fmu in one of the capture modes :
$ fmu mode_pwm3cap1
Capture input ( rising and falling edges ) and print on the console : start pwm_out in one of the capture modes :
$ pwm_out mode_pwm3cap1
This will enable capturing on the 4 th pin . Then do :
$ fmu test
$ pwm_out test
Use the ` pwm ` command for further configurations ( PWM rate , levels , . . . ) , and the ` mixer ` command to load
mixer files .
) DESCR_STR " );
PRINT_MODULE_USAGE_NAME ( " fmu " , " driver " ) ;
PRINT_MODULE_USAGE_NAME ( " pwm_out " , " 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 fmu if not running already " ) ;
PRINT_MODULE_USAGE_PARAM_COMMENT ( " All of the mode_* commands will start pwm_out if not running already " ) ;
PRINT_MODULE_USAGE_COMMAND ( " mode_gpio " ) ;
PRINT_MODULE_USAGE_COMMAND_DESCR ( " mode_pwm " , " Select all available pins as PWM " ) ;
@ -2318,7 +2122,7 @@ mixer files.
@@ -2318,7 +2122,7 @@ mixer files.
return 0 ;
}
extern " C " __EXPORT int fmu _main( int argc , char * argv [ ] )
extern " C " __EXPORT int pwm_out _main( int argc , char * argv [ ] )
{
return PX4FMU : : main ( argc , argv ) ;
return PWMOut : : main ( argc , argv ) ;
}
Daniel Agar
5 years ago