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pwm_out, dshot: remove mode_* handling and capture ioctl's

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They now use all unused pins, whereas camera_capture, camera_trigger and
pwm_input modules start before to reserve their pins.
This commit is contained in:
Beat Küng
2021-09-08 12:14:38 +02:00
committed by Daniel Agar
parent 062dd28f4d
commit 1ee423e3c8
10 changed files with 71 additions and 2263 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d-posix/rcS
-2
View File
@@ -21,8 +21,6 @@ then
fi
# initialize script variables
set AUX_MODE none
set AUX_BANK2 none
set IO_PRESENT no
set MAV_TYPE none
set MIXER none
ROMFS/px4fmu_common/init.d/rc.interface
+25 -69
View File
@@ -29,12 +29,6 @@ then
fi
fi
# USE_IO is set to 'no' for all boards w/o px4io driver or SYS_USE_IO disabled
if [ $USE_IO = no -a $AUX_BANK2 = none ]
then
set AUX_MODE none
fi
#
# Set the default output mode if none was set.
#
@@ -76,15 +70,6 @@ then
fi
fi
if [ $OUTPUT_MODE = $OUTPUT_CMD ]
then
if ! $OUTPUT_CMD mode_$FMU_MODE
then
echo "$OUTPUT_CMD start failed"
tune_control play error
fi
fi
if [ $OUTPUT_MODE = uavcan_esc ]
then
if param compare UAVCAN_ENABLE 0
@@ -98,6 +83,15 @@ then
. ${R}etc/init.d/rc.io
fi
if [ $OUTPUT_MODE = $OUTPUT_CMD -o $OUTPUT_MODE = io ]
then
if ! $OUTPUT_CMD start
then
echo "$OUTPUT_CMD start failed"
tune_control play error
fi
fi
#
# Start IO for RC input if needed.
#
@@ -161,7 +155,7 @@ else
fi
fi
if [ $MIXER_AUX != none -a $AUX_MODE != none ]
if [ $MIXER_AUX != none ]
then
#
# Load aux mixer.
@@ -179,34 +173,26 @@ then
if [ $MIXER_AUX_FILE != none ]
then
# Start the output module
if $OUTPUT_CMD mode_${AUX_MODE}
# Append aux mixer to main device.
if param greater SYS_HITL 0
then
# Append aux mixer to main device.
if param greater SYS_HITL 0
if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
then
if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
then
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
else
echo "ERROR [init] Failed appending mixer: ${MIXER_AUX_FILE}"
fi
fi
if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
then
if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
then
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
else
echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}"
fi
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
else
echo "INFO [init] setting PWM_AUX_OUT none"
set PWM_AUX_OUT none
echo "ERROR [init] Failed appending mixer: ${MIXER_AUX_FILE}"
fi
fi
if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
then
if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
then
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
else
echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}"
fi
else
echo "ERROR: Could not start: pwm_out mode_pwm"
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
echo "INFO [init] setting PWM_AUX_OUT none"
set PWM_AUX_OUT none
fi
@@ -228,36 +214,6 @@ fi
param set PWM_AUX_OUT ${PWM_AUX_OUT}
if [ $MIXER_AUX != none -a $AUX_MODE = none -a -e $OUTPUT_AUX_DEV ]
then
#
# Load aux mixer.
#
if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ]
then
set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix
else
if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ]
then
set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
fi
fi
if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
then
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
# Set PWM_AUX output frequency.
if [ $PWM_AUX_RATE != none ]
then
pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
fi
else
echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}"
fi
fi
if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
then
if [ $PWM_OUT != none ]
ROMFS/px4fmu_common/init.d/rcS
+8 -55
View File
@@ -22,10 +22,8 @@ set +e
#
set R /
set AUTOCNF no
set AUX_MODE pwm
set FCONFIG /fs/microsd/etc/config.txt
set FEXTRAS /fs/microsd/etc/extras.txt
set FMU_MODE pwm
set FRC /fs/microsd/etc/rc.txt
set IOFW "/etc/extras/px4_io-v2_default.bin"
set IO_PRESENT no
@@ -376,52 +374,9 @@ else
commander start
fi
# Sensors on the PWM interface bank.
if param compare -s SENS_EN_LL40LS 1
then
# Clear pins 5 and 6.
set FMU_MODE pwm4
set AUX_MODE pwm4
fi
# Check if ATS is enabled
if param compare FD_EXT_ATS_EN 1
then
# Clear pins 5 and 6.
set FMU_MODE pwm4
set AUX_MODE pwm4
fi
if param greater -s TRIG_MODE 0
then
if param compare TRIG_PINS_EX 0
then
# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
if param compare TRIG_PINS 56
then
# clear pins 5 and 6
set FMU_MODE pwm4
set AUX_MODE pwm4
else
if param compare TRIG_PINS 78
then
# clear pins 7 and 8
set FMU_MODE pwm6
set AUX_MODE pwm6
else
set FMU_MODE none
set AUX_MODE none
fi
fi
else
if param compare TRIG_PINS_EX 12288
then
set FMU_MODE pwm12
set AUX_MODE pwm12
fi
fi
camera_trigger start
camera_feedback start
fi
@@ -449,14 +404,7 @@ else
rc_input start $RC_INPUT_ARGS
fi
#
# Configure vehicle type specific parameters.
# Note: rc.vehicle_setup is the entry point for rc.interface,
# rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
#
. ${R}etc/init.d/rc.vehicle_setup
# Camera capture driver
# Camera capture driver (before pwm_out)
if param greater -s CAM_CAP_FBACK 0
then
if camera_capture start
@@ -465,6 +413,13 @@ else
fi
fi
#
# Configure vehicle type specific parameters.
# Note: rc.vehicle_setup is the entry point for rc.interface,
# rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
#
. ${R}etc/init.d/rc.vehicle_setup
#
# Start the navigator.
#
@@ -564,10 +519,8 @@ fi
#
unset R
unset AUTOCNF
unset AUX_MODE
unset FCONFIG
unset FEXTRAS
unset FMU_MODE
unset FRC
unset IO_PRESENT
unset IOFW
src/drivers/camera_trigger/camera_trigger_params.c
+3 -4
View File
@@ -131,15 +131,14 @@ PARAM_DEFINE_INT32(TRIG_MODE, 0);
* Camera trigger pin
*
* Selects which FMU pin is used (range: AUX1-AUX8 on Pixhawk controllers with an I/O board,
* MAIN1-MAIN8 on controllers without an I/O board. The PWM interface takes two pins per camera, while relay
* MAIN1-MAIN8 on controllers without an I/O board).
*
* The PWM interface takes two pins per camera, while relay
* triggers on every pin individually. Example: Value 56 would trigger on pins 5 and 6.
* For GPIO mode Pin 6 will be triggered followed by 5. With a value of 65 pin 5 will
* be triggered followed by 6. Pins may be non contiguous. I.E. 16 or 61.
* In GPIO mode the delay pin to pin is < .2 uS.
*
* Note: only with a value of 56 or 78 it is possible to use the lower pins for
* actuator outputs (e.g. ESC's).
*
* @min 1
* @max 12345678
* @decimal 0
src/drivers/drv_input_capture.h
-106
View File
@@ -48,26 +48,10 @@
__BEGIN_DECLS
/**
* Path for the default capture input device.
*
*
*/
#define INPUT_CAPTURE_BASE_DEVICE_PATH "/dev/capture"
#define INPUT_CAPTURE0_DEVICE_PATH "/dev/capture0"
typedef void (*capture_callback_t)(void *context, uint32_t chan_index,
hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);
/**
* Maximum number of PWM input channels supported by the device.
*/
#ifndef INPUT_CAPTURE_MAX_CHANNELS
#define INPUT_CAPTURE_MAX_CHANNELS 6
#endif
typedef uint16_t capture_filter_t;
typedef uint16_t capture_t;
typedef enum input_capture_edge {
Disabled = 0,
@@ -76,12 +60,6 @@ typedef enum input_capture_edge {
Both = 3
} input_capture_edge;
typedef struct input_capture_element_t {
hrt_abstime time_stamp;
input_capture_edge edge;
bool overrun;
} input_capture_element_t;
typedef struct input_capture_stats_t {
uint32_t edges;
uint32_t overflows;
@@ -90,90 +68,6 @@ typedef struct input_capture_stats_t {
uint16_t latency;
} input_capture_stats_t;
/**
* input capture values for a channel
*
* This allows for Capture input driver values to be set without a
* param_get() dependency
*/
typedef struct input_capture_config_t {
uint8_t channel;
capture_filter_t filter;
input_capture_edge edge;
capture_callback_t callback;
void *context;
} input_capture_config_t;
/*
* ioctl() definitions
*
* Note that ioctls and ORB updates should not be mixed, as the
* behaviour of the system in this case is not defined.
*/
#define _INPUT_CAP_BASE 0x2d00
/** Set Enable a channel arg is pointer to input_capture_config
* with all parameters set.
* edge controls the mode: Disable will free the capture channel.
* (When edge is Disabled call back and context are ignored)
* context may be null. If callback and context are null the
* callback will be disabled.
* */
#define INPUT_CAP_SET _PX4_IOC(_INPUT_CAP_BASE, 0)
/** Set the call back on a capture channel - arg is pointer to
* input_capture_config with channel call back and context set
* context may be null. If both ate null the call back will be
* disabled */
#define INPUT_CAP_SET_CALLBACK _PX4_IOC(_INPUT_CAP_BASE, 1)
/** Get the call back on a capture channel - arg is pointer to
* input_capture_config with channel set.
*/
#define INPUT_CAP_GET_CALLBACK _PX4_IOC(_INPUT_CAP_BASE, 2)
/** Set Edge a channel arg is pointer to input_capture_config
* with channel and edge set */
#define INPUT_CAP_SET_EDGE _PX4_IOC(_INPUT_CAP_BASE, 3)
/** Get Edge for a channel arg is pointer to input_capture_config
* with channel set */
#define INPUT_CAP_GET_EDGE _PX4_IOC(_INPUT_CAP_BASE, 4)
/** Set Filter input filter channel arg is pointer to input_capture_config
* with channel and filter set */
#define INPUT_CAP_SET_FILTER _PX4_IOC(_INPUT_CAP_BASE, 5)
/** Set Filter input filter channel arg is pointer to input_capture_config
* with channel set */
#define INPUT_CAP_GET_FILTER _PX4_IOC(_INPUT_CAP_BASE, 6)
/** Get the number of capture in *(unsigned *)arg */
#define INPUT_CAP_GET_COUNT _PX4_IOC(_INPUT_CAP_BASE, 7)
/** Set the number of capture in (unsigned)arg - allows change of
* split between servos and capture */
#define INPUT_CAP_SET_COUNT _PX4_IOC(_INPUT_CAP_BASE, 8)
/** Get channel stats - arg is pointer to input_capture_config
* with channel set.
*/
#define INPUT_CAP_GET_STATS _PX4_IOC(_INPUT_CAP_BASE, 9)
/** Get channel stats - arg is pointer to input_capture_config
* with channel set.
*/
#define INPUT_CAP_GET_CLR_STATS _PX4_IOC(_INPUT_CAP_BASE, 10)
/*
*
*
* WARNING WARNING WARNING! DO NOT EXCEED 31 IN IOC INDICES HERE!
*
*
*/
__EXPORT int up_input_capture_set(unsigned channel, input_capture_edge edge, capture_filter_t filter,
capture_callback_t callback, void *context);
src/drivers/drv_pwm_output.h
+1 -19
View File
@@ -218,25 +218,7 @@ typedef uint16_t servo_position_t;
/** setup OVERRIDE_IMMEDIATE behaviour on FMU fail */
#define PWM_SERVO_SET_OVERRIDE_IMMEDIATE _PX4_IOC(_PWM_SERVO_BASE, 32)
/** set auxillary output mode. These correspond to enum Mode in px4fmu/fmu.cpp */
#define PWM_SERVO_MODE_NONE 0
#define PWM_SERVO_MODE_1PWM 1
#define PWM_SERVO_MODE_2PWM 2
#define PWM_SERVO_MODE_2PWM2CAP 3
#define PWM_SERVO_MODE_3PWM 4
#define PWM_SERVO_MODE_3PWM1CAP 5
#define PWM_SERVO_MODE_4PWM 6
#define PWM_SERVO_MODE_4PWM1CAP 7
#define PWM_SERVO_MODE_4PWM2CAP 8
#define PWM_SERVO_MODE_5PWM 9
#define PWM_SERVO_MODE_5PWM1CAP 10
#define PWM_SERVO_MODE_6PWM 11
#define PWM_SERVO_MODE_8PWM 12
#define PWM_SERVO_MODE_12PWM 13
#define PWM_SERVO_MODE_14PWM 14
#define PWM_SERVO_MODE_4CAP 15
#define PWM_SERVO_MODE_5CAP 16
#define PWM_SERVO_MODE_6CAP 17
/** set auxillary output mode */
#define PWM_SERVO_ENTER_TEST_MODE 18
#define PWM_SERVO_EXIT_TEST_MODE 19
#define PWM_SERVO_SET_MODE _PX4_IOC(_PWM_SERVO_BASE, 34)
src/drivers/dshot/DShot.cpp
+12 -837
View File
File diff suppressed because it is too large Load Diff
src/drivers/dshot/DShot.h
+1 -63
View File
@@ -64,64 +64,13 @@ public:
DShot();
virtual ~DShot();
enum Mode {
MODE_NONE = 0,
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_12PWM,
MODE_14PWM,
MODE_4CAP,
MODE_5CAP,
MODE_6CAP,
};
/** Mode given via CLI */
enum PortMode {
PORT_MODE_UNSET = 0,
PORT_FULL_GPIO,
PORT_FULL_PWM,
PORT_PWM14,
PORT_PWM12,
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,
};
static void capture_trampoline(void *context, const uint32_t channel_index, const hrt_abstime edge_time,
const uint32_t edge_state, const uint32_t overflow);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
Mode get_mode() { return _mode; }
virtual int init();
virtual int ioctl(file *filp, int cmd, unsigned long arg);
/** change the mode of the running module */
static int module_new_mode(const PortMode new_mode);
void mixerChanged() override;
/** @see ModuleBase::print_status() */
@@ -141,8 +90,6 @@ public:
*/
int send_command_thread_safe(const dshot_command_t command, const int num_repetitions, const int motor_index);
int set_mode(const Mode new_mode);
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
@@ -179,19 +126,12 @@ private:
int last_motor_index{-1};
};
void capture_callback(const uint32_t channel_index, const hrt_abstime edge_time,
const uint32_t edge_state, const uint32_t overflow);
int capture_ioctl(file *filp, const int cmd, const unsigned long arg);
void enable_dshot_outputs(const bool enabled);
void init_telemetry(const char *device);
void handle_new_telemetry_data(const int motor_index, const DShotTelemetry::EscData &data);
int pwm_ioctl(file *filp, const int cmd, const unsigned long arg);
int request_esc_info();
void Run() override;
@@ -215,7 +155,7 @@ private:
bool _outputs_on{false};
bool _waiting_for_esc_info{false};
unsigned _num_outputs{0};
static constexpr unsigned _num_outputs{DIRECT_PWM_OUTPUT_CHANNELS};
uint32_t _output_mask{0};
int _class_instance{-1};
@@ -224,8 +164,6 @@ private:
Command _current_command{};
Mode _mode{MODE_NONE};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
DEFINE_PARAMETERS(
src/drivers/pwm_out/PWMOut.cpp
+21 -1043
View File
File diff suppressed because it is too large Load Diff
src/drivers/pwm_out/PWMOut.hpp
-65
View File
@@ -40,7 +40,6 @@
#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>
@@ -64,33 +63,10 @@
using namespace time_literals;
/** Mode given via CLI */
enum PortMode {
PORT_MODE_UNSET = 0,
PORT_FULL_GPIO,
PORT_FULL_PWM,
PORT_PWM14,
PORT_PWM12,
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
// TODO: keep in sync with drivers/camera_capture
#define PX4FMU_DEVICE_PATH "/dev/px4fmu"
static constexpr int PWM_OUT_MAX_INSTANCES{(DIRECT_PWM_OUTPUT_CHANNELS > 8) ? 2 : 1};
@@ -99,29 +75,6 @@ extern pthread_mutex_t pwm_out_module_mutex;
class PWMOut : public cdev::CDev, 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_12PWM,
MODE_14PWM,
MODE_4CAP,
MODE_5CAP,
MODE_6CAP,
MODE_NO_REQUEST
};
PWMOut() = delete;
explicit PWMOut(int instance = 0, uint8_t output_base = 0);
@@ -148,30 +101,20 @@ public:
static bool trylock_module() { return (pthread_mutex_trylock(&pwm_out_module_mutex) == 0); }
static void unlock_module() { pthread_mutex_unlock(&pwm_out_module_mutex); }
/** change the FMU mode of the running module */
static int fmu_new_mode(PortMode new_mode);
static int test(const char *dev);
virtual int ioctl(file *filp, int cmd, unsigned long arg);
virtual int init();
int set_mode(Mode mode);
Mode get_mode() const { return _mode; }
uint32_t get_pwm_mask() const { return _pwm_mask; }
void set_pwm_mask(uint32_t mask) { _pwm_mask = mask; }
uint32_t get_alt_rate_channels() const { return _pwm_alt_rate_channels; }
unsigned get_alt_rate() const { return _pwm_alt_rate; }
unsigned get_default_rate() const { return _pwm_default_rate; }
void request_mode(Mode new_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);
bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated) override;
@@ -189,10 +132,6 @@ private:
MixingOutput _mixing_output{FMU_MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, true};
Mode _mode{MODE_NONE};
px4::atomic<Mode> _new_mode_request{MODE_NO_REQUEST};
uint32_t _backup_schedule_interval_us{1_s};
unsigned _pwm_default_rate{50};
@@ -216,8 +155,6 @@ private:
perf_counter_t _cycle_perf;
perf_counter_t _interval_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);
@@ -229,8 +166,6 @@ private:
static void sensor_reset(int ms);
static void peripheral_reset(int ms);
int capture_ioctl(file *filp, int cmd, unsigned long arg);
PWMOut(const PWMOut &) = delete;
PWMOut operator=(const PWMOut &) = delete;