|
|
|
@ -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 |
|
|
|
* Redistribution and use in source and binary forms, with or without |
|
|
|
* modification, are permitted provided that the following conditions |
|
|
|
* modification, are permitted provided that the following conditions |
|
|
|
@ -31,184 +31,9 @@ |
|
|
|
* |
|
|
|
* |
|
|
|
****************************************************************************/ |
|
|
|
****************************************************************************/ |
|
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
#include "PWMOut.hpp" |
|
|
|
* @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); |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void update_pwm_trims(); |
|
|
|
PWMOut::PWMOut() : |
|
|
|
|
|
|
|
|
|
|
|
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() : |
|
|
|
|
|
|
|
CDev(PX4FMU_DEVICE_PATH), |
|
|
|
CDev(PX4FMU_DEVICE_PATH), |
|
|
|
OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default), |
|
|
|
OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default), |
|
|
|
_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")) |
|
|
|
_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")) |
|
|
|
@ -218,7 +43,7 @@ PX4FMU::PX4FMU() : |
|
|
|
|
|
|
|
|
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
PX4FMU::~PX4FMU() |
|
|
|
PWMOut::~PWMOut() |
|
|
|
{ |
|
|
|
{ |
|
|
|
/* make sure servos are off */ |
|
|
|
/* make sure servos are off */ |
|
|
|
up_pwm_servo_deinit(); |
|
|
|
up_pwm_servo_deinit(); |
|
|
|
@ -229,8 +54,7 @@ PX4FMU::~PX4FMU() |
|
|
|
perf_free(_cycle_perf); |
|
|
|
perf_free(_cycle_perf); |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
int |
|
|
|
int PWMOut::init() |
|
|
|
PX4FMU::init() |
|
|
|
|
|
|
|
{ |
|
|
|
{ |
|
|
|
/* do regular cdev init */ |
|
|
|
/* do regular cdev init */ |
|
|
|
int ret = CDev::init(); |
|
|
|
int ret = CDev::init(); |
|
|
|
@ -263,8 +87,7 @@ PX4FMU::init() |
|
|
|
return 0; |
|
|
|
return 0; |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
int |
|
|
|
int PWMOut::set_mode(Mode mode) |
|
|
|
PX4FMU::set_mode(Mode mode) |
|
|
|
|
|
|
|
{ |
|
|
|
{ |
|
|
|
unsigned old_mask = _pwm_mask; |
|
|
|
unsigned old_mask = _pwm_mask; |
|
|
|
|
|
|
|
|
|
|
|
@ -489,8 +312,7 @@ PX4FMU::set_mode(Mode mode) |
|
|
|
* For Oneshot there is no rate, 0 is therefore used |
|
|
|
* For Oneshot there is no rate, 0 is therefore used |
|
|
|
* to select Oneshot mode |
|
|
|
* to select Oneshot mode |
|
|
|
*/ |
|
|
|
*/ |
|
|
|
int |
|
|
|
int PWMOut::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate) |
|
|
|
PX4FMU::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); |
|
|
|
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 |
|
|
|
return OK; |
|
|
|
return OK; |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
int |
|
|
|
int PWMOut::set_i2c_bus_clock(unsigned bus, unsigned clock_hz) |
|
|
|
PX4FMU::set_i2c_bus_clock(unsigned bus, unsigned clock_hz) |
|
|
|
|
|
|
|
{ |
|
|
|
{ |
|
|
|
return device::I2C::set_bus_clock(bus, clock_hz); |
|
|
|
return device::I2C::set_bus_clock(bus, clock_hz); |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
void |
|
|
|
void PWMOut::update_current_rate() |
|
|
|
PX4FMU::update_current_rate() |
|
|
|
|
|
|
|
{ |
|
|
|
{ |
|
|
|
/*
|
|
|
|
/*
|
|
|
|
* Adjust actuator topic update rate to keep up with |
|
|
|
* Adjust actuator topic update rate to keep up with |
|
|
|
@ -586,8 +406,7 @@ PX4FMU::update_current_rate() |
|
|
|
_mixing_output.setMaxTopicUpdateRate(update_interval_in_us); |
|
|
|
_mixing_output.setMaxTopicUpdateRate(update_interval_in_us); |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
void |
|
|
|
void PWMOut::update_pwm_rev_mask() |
|
|
|
PX4FMU::update_pwm_rev_mask() |
|
|
|
|
|
|
|
{ |
|
|
|
{ |
|
|
|
uint16_t &reverse_pwm_mask = _mixing_output.reverseOutputMask(); |
|
|
|
uint16_t &reverse_pwm_mask = _mixing_output.reverseOutputMask(); |
|
|
|
reverse_pwm_mask = 0; |
|
|
|
reverse_pwm_mask = 0; |
|
|
|
@ -620,8 +439,7 @@ PX4FMU::update_pwm_rev_mask() |
|
|
|
} |
|
|
|
} |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
void |
|
|
|
void PWMOut::update_pwm_trims() |
|
|
|
PX4FMU::update_pwm_trims() |
|
|
|
|
|
|
|
{ |
|
|
|
{ |
|
|
|
PX4_DEBUG("update_pwm_trims"); |
|
|
|
PX4_DEBUG("update_pwm_trims"); |
|
|
|
|
|
|
|
|
|
|
|
@ -664,10 +482,9 @@ PX4FMU::update_pwm_trims() |
|
|
|
PX4_DEBUG("set %d trims", n_out); |
|
|
|
PX4_DEBUG("set %d trims", n_out); |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
int |
|
|
|
int PWMOut::task_spawn(int argc, char *argv[]) |
|
|
|
PX4FMU::task_spawn(int argc, char *argv[]) |
|
|
|
|
|
|
|
{ |
|
|
|
{ |
|
|
|
PX4FMU *instance = new PX4FMU(); |
|
|
|
PWMOut *instance = new PWMOut(); |
|
|
|
|
|
|
|
|
|
|
|
if (instance) { |
|
|
|
if (instance) { |
|
|
|
_object.store(instance); |
|
|
|
_object.store(instance); |
|
|
|
@ -688,23 +505,20 @@ PX4FMU::task_spawn(int argc, char *argv[]) |
|
|
|
return PX4_ERROR; |
|
|
|
return PX4_ERROR; |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
void |
|
|
|
void PWMOut::capture_trampoline(void *context, uint32_t chan_index, |
|
|
|
PX4FMU::capture_trampoline(void *context, uint32_t chan_index, |
|
|
|
hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow) |
|
|
|
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); |
|
|
|
dev->capture_callback(chan_index, edge_time, edge_state, overflow); |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
void |
|
|
|
void PWMOut::capture_callback(uint32_t chan_index, |
|
|
|
PX4FMU::capture_callback(uint32_t chan_index, |
|
|
|
hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow) |
|
|
|
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); |
|
|
|
fprintf(stdout, "FMU: Capture chan:%d time:%lld state:%d overflow:%d\n", chan_index, edge_time, edge_state, overflow); |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
void |
|
|
|
void PWMOut::update_pwm_out_state(bool on) |
|
|
|
PX4FMU::update_pwm_out_state(bool on) |
|
|
|
|
|
|
|
{ |
|
|
|
{ |
|
|
|
if (on && !_pwm_initialized && _pwm_mask != 0) { |
|
|
|
if (on && !_pwm_initialized && _pwm_mask != 0) { |
|
|
|
up_pwm_servo_init(_pwm_mask); |
|
|
|
up_pwm_servo_init(_pwm_mask); |
|
|
|
@ -715,8 +529,7 @@ PX4FMU::update_pwm_out_state(bool on) |
|
|
|
up_pwm_servo_arm(on); |
|
|
|
up_pwm_servo_arm(on); |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
bool PWMOut::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], |
|
|
|
bool PX4FMU::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], |
|
|
|
|
|
|
|
unsigned num_outputs, unsigned num_control_groups_updated) |
|
|
|
unsigned num_outputs, unsigned num_control_groups_updated) |
|
|
|
{ |
|
|
|
{ |
|
|
|
if (_test_mode) { |
|
|
|
if (_test_mode) { |
|
|
|
@ -740,8 +553,7 @@ bool PX4FMU::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], |
|
|
|
return true; |
|
|
|
return true; |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
void |
|
|
|
void PWMOut::Run() |
|
|
|
PX4FMU::Run() |
|
|
|
|
|
|
|
{ |
|
|
|
{ |
|
|
|
if (should_exit()) { |
|
|
|
if (should_exit()) { |
|
|
|
ScheduleClear(); |
|
|
|
ScheduleClear(); |
|
|
|
@ -783,7 +595,7 @@ PX4FMU::Run() |
|
|
|
perf_end(_cycle_perf); |
|
|
|
perf_end(_cycle_perf); |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
void PX4FMU::update_params() |
|
|
|
void PWMOut::update_params() |
|
|
|
{ |
|
|
|
{ |
|
|
|
update_pwm_rev_mask(); |
|
|
|
update_pwm_rev_mask(); |
|
|
|
update_pwm_trims(); |
|
|
|
update_pwm_trims(); |
|
|
|
@ -791,8 +603,7 @@ void PX4FMU::update_params() |
|
|
|
updateParams(); |
|
|
|
updateParams(); |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
int |
|
|
|
int PWMOut::ioctl(file *filp, int cmd, unsigned long arg) |
|
|
|
PX4FMU::ioctl(file *filp, int cmd, unsigned long arg) |
|
|
|
|
|
|
|
{ |
|
|
|
{ |
|
|
|
int ret; |
|
|
|
int ret; |
|
|
|
|
|
|
|
|
|
|
|
@ -840,12 +651,11 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg) |
|
|
|
return ret; |
|
|
|
return ret; |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
int |
|
|
|
int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg) |
|
|
|
PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) |
|
|
|
|
|
|
|
{ |
|
|
|
{ |
|
|
|
int ret = OK; |
|
|
|
int ret = OK; |
|
|
|
|
|
|
|
|
|
|
|
PX4_DEBUG("fmu ioctl cmd: %d, arg: %ld", cmd, arg); |
|
|
|
PX4_DEBUG("ioctl cmd: %d, arg: %ld", cmd, arg); |
|
|
|
|
|
|
|
|
|
|
|
lock(); |
|
|
|
lock(); |
|
|
|
|
|
|
|
|
|
|
|
@ -1490,8 +1300,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) |
|
|
|
return ret; |
|
|
|
return ret; |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
void |
|
|
|
void PWMOut::sensor_reset(int ms) |
|
|
|
PX4FMU::sensor_reset(int ms) |
|
|
|
|
|
|
|
{ |
|
|
|
{ |
|
|
|
if (ms < 1) { |
|
|
|
if (ms < 1) { |
|
|
|
ms = 1; |
|
|
|
ms = 1; |
|
|
|
@ -1500,8 +1309,7 @@ PX4FMU::sensor_reset(int ms) |
|
|
|
board_spi_reset(ms, 0xffff); |
|
|
|
board_spi_reset(ms, 0xffff); |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
void |
|
|
|
void PWMOut::peripheral_reset(int ms) |
|
|
|
PX4FMU::peripheral_reset(int ms) |
|
|
|
|
|
|
|
{ |
|
|
|
{ |
|
|
|
if (ms < 1) { |
|
|
|
if (ms < 1) { |
|
|
|
ms = 10; |
|
|
|
ms = 10; |
|
|
|
@ -1510,8 +1318,7 @@ PX4FMU::peripheral_reset(int ms) |
|
|
|
board_peripheral_reset(ms); |
|
|
|
board_peripheral_reset(ms); |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
int |
|
|
|
int PWMOut::capture_ioctl(struct file *filp, int cmd, unsigned long arg) |
|
|
|
PX4FMU::capture_ioctl(struct file *filp, int cmd, unsigned long arg) |
|
|
|
|
|
|
|
{ |
|
|
|
{ |
|
|
|
int ret = -EINVAL; |
|
|
|
int ret = -EINVAL; |
|
|
|
|
|
|
|
|
|
|
|
@ -1662,16 +1469,15 @@ PX4FMU::capture_ioctl(struct file *filp, int cmd, unsigned long arg) |
|
|
|
return ret; |
|
|
|
return ret; |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
int |
|
|
|
int PWMOut::fmu_new_mode(PortMode new_mode) |
|
|
|
PX4FMU::fmu_new_mode(PortMode new_mode) |
|
|
|
|
|
|
|
{ |
|
|
|
{ |
|
|
|
if (!is_running()) { |
|
|
|
if (!is_running()) { |
|
|
|
return -1; |
|
|
|
return -1; |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
PX4FMU::Mode servo_mode; |
|
|
|
PWMOut::Mode servo_mode; |
|
|
|
|
|
|
|
|
|
|
|
servo_mode = PX4FMU::MODE_NONE; |
|
|
|
servo_mode = PWMOut::MODE_NONE; |
|
|
|
|
|
|
|
|
|
|
|
switch (new_mode) { |
|
|
|
switch (new_mode) { |
|
|
|
case PORT_FULL_GPIO: |
|
|
|
case PORT_FULL_GPIO: |
|
|
|
@ -1682,44 +1488,44 @@ PX4FMU::fmu_new_mode(PortMode new_mode) |
|
|
|
|
|
|
|
|
|
|
|
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 4 |
|
|
|
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 4 |
|
|
|
/* select 4-pin PWM mode */ |
|
|
|
/* select 4-pin PWM mode */ |
|
|
|
servo_mode = PX4FMU::MODE_4PWM; |
|
|
|
servo_mode = PWMOut::MODE_4PWM; |
|
|
|
#endif |
|
|
|
#endif |
|
|
|
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 5 |
|
|
|
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 5 |
|
|
|
servo_mode = PX4FMU::MODE_5PWM; |
|
|
|
servo_mode = PWMOut::MODE_5PWM; |
|
|
|
#endif |
|
|
|
#endif |
|
|
|
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 6 |
|
|
|
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 6 |
|
|
|
servo_mode = PX4FMU::MODE_6PWM; |
|
|
|
servo_mode = PWMOut::MODE_6PWM; |
|
|
|
#endif |
|
|
|
#endif |
|
|
|
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 8 |
|
|
|
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 8 |
|
|
|
servo_mode = PX4FMU::MODE_8PWM; |
|
|
|
servo_mode = PWMOut::MODE_8PWM; |
|
|
|
#endif |
|
|
|
#endif |
|
|
|
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 14 |
|
|
|
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 14 |
|
|
|
servo_mode = PX4FMU::MODE_14PWM; |
|
|
|
servo_mode = PWMOut::MODE_14PWM; |
|
|
|
#endif |
|
|
|
#endif |
|
|
|
break; |
|
|
|
break; |
|
|
|
|
|
|
|
|
|
|
|
case PORT_PWM1: |
|
|
|
case PORT_PWM1: |
|
|
|
/* select 2-pin PWM mode */ |
|
|
|
/* select 2-pin PWM mode */ |
|
|
|
servo_mode = PX4FMU::MODE_1PWM; |
|
|
|
servo_mode = PWMOut::MODE_1PWM; |
|
|
|
break; |
|
|
|
break; |
|
|
|
|
|
|
|
|
|
|
|
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8 |
|
|
|
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8 |
|
|
|
|
|
|
|
|
|
|
|
case PORT_PWM8: |
|
|
|
case PORT_PWM8: |
|
|
|
/* select 8-pin PWM mode */ |
|
|
|
/* select 8-pin PWM mode */ |
|
|
|
servo_mode = PX4FMU::MODE_8PWM; |
|
|
|
servo_mode = PWMOut::MODE_8PWM; |
|
|
|
break; |
|
|
|
break; |
|
|
|
#endif |
|
|
|
#endif |
|
|
|
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6 |
|
|
|
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6 |
|
|
|
|
|
|
|
|
|
|
|
case PORT_PWM6: |
|
|
|
case PORT_PWM6: |
|
|
|
/* select 6-pin PWM mode */ |
|
|
|
/* select 6-pin PWM mode */ |
|
|
|
servo_mode = PX4FMU::MODE_6PWM; |
|
|
|
servo_mode = PWMOut::MODE_6PWM; |
|
|
|
break; |
|
|
|
break; |
|
|
|
|
|
|
|
|
|
|
|
case PORT_PWM5: |
|
|
|
case PORT_PWM5: |
|
|
|
/* select 5-pin PWM mode */ |
|
|
|
/* select 5-pin PWM mode */ |
|
|
|
servo_mode = PX4FMU::MODE_5PWM; |
|
|
|
servo_mode = PWMOut::MODE_5PWM; |
|
|
|
break; |
|
|
|
break; |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
@ -1727,14 +1533,14 @@ PX4FMU::fmu_new_mode(PortMode new_mode) |
|
|
|
|
|
|
|
|
|
|
|
case PORT_PWM5CAP1: |
|
|
|
case PORT_PWM5CAP1: |
|
|
|
/* select 5-pin PWM mode 1 capture */ |
|
|
|
/* select 5-pin PWM mode 1 capture */ |
|
|
|
servo_mode = PX4FMU::MODE_5PWM1CAP; |
|
|
|
servo_mode = PWMOut::MODE_5PWM1CAP; |
|
|
|
break; |
|
|
|
break; |
|
|
|
|
|
|
|
|
|
|
|
# endif |
|
|
|
# endif |
|
|
|
|
|
|
|
|
|
|
|
case PORT_PWM4: |
|
|
|
case PORT_PWM4: |
|
|
|
/* select 4-pin PWM mode */ |
|
|
|
/* select 4-pin PWM mode */ |
|
|
|
servo_mode = PX4FMU::MODE_4PWM; |
|
|
|
servo_mode = PWMOut::MODE_4PWM; |
|
|
|
break; |
|
|
|
break; |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
@ -1742,39 +1548,39 @@ PX4FMU::fmu_new_mode(PortMode new_mode) |
|
|
|
|
|
|
|
|
|
|
|
case PORT_PWM4CAP1: |
|
|
|
case PORT_PWM4CAP1: |
|
|
|
/* select 4-pin PWM mode 1 capture */ |
|
|
|
/* select 4-pin PWM mode 1 capture */ |
|
|
|
servo_mode = PX4FMU::MODE_4PWM1CAP; |
|
|
|
servo_mode = PWMOut::MODE_4PWM1CAP; |
|
|
|
break; |
|
|
|
break; |
|
|
|
|
|
|
|
|
|
|
|
case PORT_PWM4CAP2: |
|
|
|
case PORT_PWM4CAP2: |
|
|
|
/* select 4-pin PWM mode 2 capture */ |
|
|
|
/* select 4-pin PWM mode 2 capture */ |
|
|
|
servo_mode = PX4FMU::MODE_4PWM2CAP; |
|
|
|
servo_mode = PWMOut::MODE_4PWM2CAP; |
|
|
|
break; |
|
|
|
break; |
|
|
|
|
|
|
|
|
|
|
|
# endif |
|
|
|
# endif |
|
|
|
|
|
|
|
|
|
|
|
case PORT_PWM3: |
|
|
|
case PORT_PWM3: |
|
|
|
/* select 3-pin PWM mode */ |
|
|
|
/* select 3-pin PWM mode */ |
|
|
|
servo_mode = PX4FMU::MODE_3PWM; |
|
|
|
servo_mode = PWMOut::MODE_3PWM; |
|
|
|
break; |
|
|
|
break; |
|
|
|
|
|
|
|
|
|
|
|
# if defined(BOARD_HAS_CAPTURE) |
|
|
|
# if defined(BOARD_HAS_CAPTURE) |
|
|
|
|
|
|
|
|
|
|
|
case PORT_PWM3CAP1: |
|
|
|
case PORT_PWM3CAP1: |
|
|
|
/* select 3-pin PWM mode 1 capture */ |
|
|
|
/* select 3-pin PWM mode 1 capture */ |
|
|
|
servo_mode = PX4FMU::MODE_3PWM1CAP; |
|
|
|
servo_mode = PWMOut::MODE_3PWM1CAP; |
|
|
|
break; |
|
|
|
break; |
|
|
|
# endif |
|
|
|
# endif |
|
|
|
|
|
|
|
|
|
|
|
case PORT_PWM2: |
|
|
|
case PORT_PWM2: |
|
|
|
/* select 2-pin PWM mode */ |
|
|
|
/* select 2-pin PWM mode */ |
|
|
|
servo_mode = PX4FMU::MODE_2PWM; |
|
|
|
servo_mode = PWMOut::MODE_2PWM; |
|
|
|
break; |
|
|
|
break; |
|
|
|
|
|
|
|
|
|
|
|
# if defined(BOARD_HAS_CAPTURE) |
|
|
|
# if defined(BOARD_HAS_CAPTURE) |
|
|
|
|
|
|
|
|
|
|
|
case PORT_PWM2CAP2: |
|
|
|
case PORT_PWM2CAP2: |
|
|
|
/* select 2-pin PWM mode 2 capture */ |
|
|
|
/* select 2-pin PWM mode 2 capture */ |
|
|
|
servo_mode = PX4FMU::MODE_2PWM2CAP; |
|
|
|
servo_mode = PWMOut::MODE_2PWM2CAP; |
|
|
|
break; |
|
|
|
break; |
|
|
|
|
|
|
|
|
|
|
|
# endif |
|
|
|
# endif |
|
|
|
@ -1784,7 +1590,7 @@ PX4FMU::fmu_new_mode(PortMode new_mode) |
|
|
|
return -1; |
|
|
|
return -1; |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
PX4FMU *object = get_instance(); |
|
|
|
PWMOut *object = get_instance(); |
|
|
|
|
|
|
|
|
|
|
|
if (servo_mode != object->get_mode()) { |
|
|
|
if (servo_mode != object->get_mode()) { |
|
|
|
/* (re)set the PWM output mode */ |
|
|
|
/* (re)set the PWM output mode */ |
|
|
|
@ -1800,13 +1606,12 @@ namespace |
|
|
|
|
|
|
|
|
|
|
|
int fmu_new_i2c_speed(unsigned bus, unsigned clock_hz) |
|
|
|
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
|
|
|
|
} // namespace
|
|
|
|
|
|
|
|
|
|
|
|
int |
|
|
|
int PWMOut::test() |
|
|
|
PX4FMU::test() |
|
|
|
|
|
|
|
{ |
|
|
|
{ |
|
|
|
int fd; |
|
|
|
int fd; |
|
|
|
unsigned servo_count = 0; |
|
|
|
unsigned servo_count = 0; |
|
|
|
@ -1862,8 +1667,8 @@ PX4FMU::test() |
|
|
|
|
|
|
|
|
|
|
|
} else { |
|
|
|
} else { |
|
|
|
input_capture_config_t conf = capture_conf[i].chan; |
|
|
|
input_capture_config_t conf = capture_conf[i].chan; |
|
|
|
conf.callback = &PX4FMU::capture_trampoline; |
|
|
|
conf.callback = &PWMOut::capture_trampoline; |
|
|
|
conf.context = PX4FMU::get_instance(); |
|
|
|
conf.context = PWMOut::get_instance(); |
|
|
|
|
|
|
|
|
|
|
|
if (::ioctl(fd, INPUT_CAP_SET_CALLBACK, (unsigned long)&conf) == 0) { |
|
|
|
if (::ioctl(fd, INPUT_CAP_SET_CALLBACK, (unsigned long)&conf) == 0) { |
|
|
|
capture_conf[i].valid = true; |
|
|
|
capture_conf[i].valid = true; |
|
|
|
@ -1997,8 +1802,7 @@ err_out_no_test: |
|
|
|
return rv; |
|
|
|
return rv; |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
int |
|
|
|
int PWMOut::fake(int argc, char *argv[]) |
|
|
|
PX4FMU::fake(int argc, char *argv[]) |
|
|
|
|
|
|
|
{ |
|
|
|
{ |
|
|
|
if (argc < 5) { |
|
|
|
if (argc < 5) { |
|
|
|
print_usage("not enough arguments"); |
|
|
|
print_usage("not enough arguments"); |
|
|
|
@ -2040,7 +1844,7 @@ PX4FMU::fake(int argc, char *argv[]) |
|
|
|
return 0; |
|
|
|
return 0; |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
int PX4FMU::custom_command(int argc, char *argv[]) |
|
|
|
int PWMOut::custom_command(int argc, char *argv[]) |
|
|
|
{ |
|
|
|
{ |
|
|
|
PortMode new_mode = PORT_MODE_UNSET; |
|
|
|
PortMode new_mode = PORT_MODE_UNSET; |
|
|
|
const char *verb = argv[0]; |
|
|
|
const char *verb = argv[0]; |
|
|
|
@ -2091,7 +1895,7 @@ int PX4FMU::custom_command(int argc, char *argv[]) |
|
|
|
|
|
|
|
|
|
|
|
/* start the FMU if not running */ |
|
|
|
/* start the FMU if not running */ |
|
|
|
if (!is_running()) { |
|
|
|
if (!is_running()) { |
|
|
|
int ret = PX4FMU::task_spawn(argc, argv); |
|
|
|
int ret = PWMOut::task_spawn(argc, argv); |
|
|
|
|
|
|
|
|
|
|
|
if (ret) { |
|
|
|
if (ret) { |
|
|
|
return ret; |
|
|
|
return ret; |
|
|
|
@ -2172,7 +1976,7 @@ int PX4FMU::custom_command(int argc, char *argv[]) |
|
|
|
if (new_mode != PORT_MODE_UNSET) { |
|
|
|
if (new_mode != PORT_MODE_UNSET) { |
|
|
|
|
|
|
|
|
|
|
|
/* switch modes */ |
|
|
|
/* switch modes */ |
|
|
|
return PX4FMU::fmu_new_mode(new_mode); |
|
|
|
return PWMOut::fmu_new_mode(new_mode); |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
if (!strcmp(verb, "test")) { |
|
|
|
if (!strcmp(verb, "test")) { |
|
|
|
@ -2186,7 +1990,7 @@ int PX4FMU::custom_command(int argc, char *argv[]) |
|
|
|
return print_usage("unknown command"); |
|
|
|
return print_usage("unknown command"); |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
int PX4FMU::print_status() |
|
|
|
int PWMOut::print_status() |
|
|
|
{ |
|
|
|
{ |
|
|
|
PX4_INFO("Max update rate: %i Hz", _current_update_rate); |
|
|
|
PX4_INFO("Max update rate: %i Hz", _current_update_rate); |
|
|
|
|
|
|
|
|
|
|
|
@ -2239,7 +2043,7 @@ int PX4FMU::print_status() |
|
|
|
return 0; |
|
|
|
return 0; |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
|
|
|
|
|
int PX4FMU::print_usage(const char *reason) |
|
|
|
int PWMOut::print_usage(const char *reason) |
|
|
|
{ |
|
|
|
{ |
|
|
|
if (reason) { |
|
|
|
if (reason) { |
|
|
|
PX4_WARN("%s\n", 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 |
|
|
|
|
|
|
|
|
|
|
|
The module is configured via mode_* commands. This defines which of the first N pins the driver should occupy. |
|
|
|
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 |
|
|
|
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. |
|
|
|
callback with ioctl calls. |
|
|
|
|
|
|
|
|
|
|
|
### Implementation |
|
|
|
### Implementation |
|
|
|
@ -2264,22 +2068,22 @@ By default the module runs on a work queue with a callback on the uORB actuator_ |
|
|
|
|
|
|
|
|
|
|
|
### Examples |
|
|
|
### Examples |
|
|
|
It is typically started with: |
|
|
|
It is typically started with: |
|
|
|
$ fmu mode_pwm |
|
|
|
$ pwm_out mode_pwm |
|
|
|
To drive all available pins. |
|
|
|
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: |
|
|
|
Capture input (rising and falling edges) and print on the console: start pwm_out in one of the capture modes: |
|
|
|
$ fmu mode_pwm3cap1 |
|
|
|
$ pwm_out mode_pwm3cap1 |
|
|
|
This will enable capturing on the 4th pin. Then do: |
|
|
|
This will enable capturing on the 4th pin. Then do: |
|
|
|
$ fmu test |
|
|
|
$ pwm_out test |
|
|
|
|
|
|
|
|
|
|
|
Use the `pwm` command for further configurations (PWM rate, levels, ...), and the `mixer` command to load |
|
|
|
Use the `pwm` command for further configurations (PWM rate, levels, ...), and the `mixer` command to load |
|
|
|
mixer files. |
|
|
|
mixer files. |
|
|
|
)DESCR_STR"); |
|
|
|
)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_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("mode_gpio"); |
|
|
|
PRINT_MODULE_USAGE_COMMAND_DESCR("mode_pwm", "Select all available pins as PWM"); |
|
|
|
PRINT_MODULE_USAGE_COMMAND_DESCR("mode_pwm", "Select all available pins as PWM"); |
|
|
|
@ -2318,7 +2122,7 @@ mixer files. |
|
|
|
return 0; |
|
|
|
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