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pwm_out_sim cleanup

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- move to ModuleBase
 - strip down to PWM 8 and 16 modes only
 - remove all dead code
 - implement missing pwm ioctls (current value, rates, etc)
 - default rate 50Hz -> 400Hz
This commit is contained in:
Daniel Agar
2018-03-04 11:00:40 -05:00
parent 3d6854099e
commit 38f5f60a1e
40 changed files with 841 additions and 1140 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d/rcS
+1 -1
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@@ -504,7 +504,7 @@ then
if [ $OUTPUT_MODE == hil ]
then
if pwm_out_sim mode_pwm16
if pwm_out_sim start
then
else
tune_control play -m ${TUNE_ERR}
platforms/qurt/src/px4_layer/commands_hil.c
+1 -1
View File
@@ -56,7 +56,7 @@ const char *get_commands()
"mc_pos_control start\n"
"mc_att_control start\n"
"sleep 1\n"
"pwm_out_sim mode_pwm\n"
"pwm_out_sim start\n"
"param set RC1_MAX 2015\n"
"param set RC1_MIN 996\n"
"param set RC1_TRIM 1502\n"
posix-configs/SITL/init/ekf2/hippocampus
+1 -1
View File
@@ -13,7 +13,7 @@ dataman start
simulator start -s
pwm_out_sim mode_pwm
pwm_out_sim start
mixer load /dev/pwm_output0 ROMFS/px4fmu_test/mixers/uuv_quad_x.mix
gyrosim start
posix-configs/SITL/init/ekf2/iris
+1 -1
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@@ -53,7 +53,7 @@ accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim mode_pwm
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
posix-configs/SITL/init/ekf2/iris_1
+1 -1
View File
@@ -55,7 +55,7 @@ accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim mode_pwm
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
posix-configs/SITL/init/ekf2/iris_2
+1 -1
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@@ -55,7 +55,7 @@ accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim mode_pwm
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
posix-configs/SITL/init/ekf2/iris_irlock
+1 -1
View File
@@ -54,7 +54,7 @@ accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim mode_pwm
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
posix-configs/SITL/init/ekf2/iris_opt_flow
+1 -1
View File
@@ -56,7 +56,7 @@ accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim mode_pwm
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
posix-configs/SITL/init/ekf2/iris_rplidar
+1 -1
View File
@@ -53,7 +53,7 @@ accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim mode_pwm
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
posix-configs/SITL/init/ekf2/multiple_iris
+1 -1
View File
@@ -53,7 +53,7 @@ accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim mode_pwm
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
posix-configs/SITL/init/ekf2/plane
+1 -1
View File
@@ -61,7 +61,7 @@ barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim mode_pwm
pwm_out_sim start
sensors start
commander start
navigator start
posix-configs/SITL/init/ekf2/rover
+1 -1
View File
@@ -57,7 +57,7 @@ barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim mode_pwm
pwm_out_sim start
sleep 1
sensors start
commander start
posix-configs/SITL/init/ekf2/solo
+1 -1
View File
@@ -50,7 +50,7 @@ accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim mode_pwm
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
posix-configs/SITL/init/ekf2/standard_vtol
+1 -1
View File
@@ -68,7 +68,7 @@ barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim mode_pwm
pwm_out_sim start start
sensors start
commander start
land_detector start vtol
posix-configs/SITL/init/ekf2/tailsitter
+1 -1
View File
@@ -49,7 +49,7 @@ barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim mode_pwm
pwm_out_sim start
sensors start
commander start
land_detector start vtol
posix-configs/SITL/init/ekf2/tiltrotor
+1 -1
View File
@@ -70,7 +70,7 @@ barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim mode_pwm
pwm_out_sim start
sensors start
commander start
land_detector start vtol
posix-configs/SITL/init/ekf2/typhoon_h480
+1 -1
View File
@@ -56,7 +56,7 @@ accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim mode_pwm16
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
posix-configs/SITL/init/inav/iris
+1 -1
View File
@@ -51,7 +51,7 @@ accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim mode_pwm
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
posix-configs/SITL/init/inav/iris_opt_flow
+1 -1
View File
@@ -53,7 +53,7 @@ accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim mode_pwm
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
posix-configs/SITL/init/lpe/hippocampus
+1 -1
View File
@@ -13,7 +13,7 @@ dataman start
simulator start -s
pwm_out_sim mode_pwm
pwm_out_sim start
mixer load /dev/pwm_output0 ROMFS/px4fmu_test/mixers/uuv_quad_x.mix
gyrosim start
posix-configs/SITL/init/lpe/iris
+1 -1
View File
@@ -53,7 +53,7 @@ accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim mode_pwm
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
posix-configs/SITL/init/lpe/iris_1
+1 -1
View File
@@ -55,7 +55,7 @@ accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim mode_pwm
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
posix-configs/SITL/init/lpe/iris_2
+1 -1
View File
@@ -55,7 +55,7 @@ accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim mode_pwm
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
posix-configs/SITL/init/lpe/iris_irlock
+1 -1
View File
@@ -61,7 +61,7 @@ accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim mode_pwm
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
posix-configs/SITL/init/lpe/iris_opt_flow
+1 -1
View File
@@ -71,7 +71,7 @@ accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim mode_pwm
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
posix-configs/SITL/init/lpe/iris_rplidar
+1 -1
View File
@@ -52,7 +52,7 @@ accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim mode_pwm
pwm_out_sim start
sleep 1
sensors start
commander start
posix-configs/SITL/init/lpe/plane
+1 -1
View File
@@ -59,7 +59,7 @@ barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim mode_pwm
pwm_out_sim start
sensors start
commander start
navigator start
posix-configs/SITL/init/lpe/rover
+1 -1
View File
@@ -53,7 +53,7 @@ barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim mode_pwm
pwm_out_sim start
sleep 1
sensors start
commander start
posix-configs/SITL/init/lpe/solo
+1 -1
View File
@@ -53,7 +53,7 @@ accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim mode_pwm
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
posix-configs/SITL/init/lpe/standard_vtol
+1 -1
View File
@@ -63,7 +63,7 @@ barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim mode_pwm
pwm_out_sim start
sensors start
commander start
land_detector start vtol
posix-configs/SITL/init/lpe/typhoon_h480
+1 -1
View File
@@ -50,7 +50,7 @@ accelsim start
barosim start
adcsim start
gpssim start
pwm_out_sim mode_pwm16
pwm_out_sim start
sensors start
commander start
land_detector start multicopter
posix-configs/SITL/init/rcS_gazebo_delta_wing
+1 -1
View File
@@ -35,7 +35,7 @@ barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim mode_pwm
pwm_out_sim start
sensors start
commander start
navigator start
posix-configs/SITL/init/test/cmd_template.in
+1 -1
View File
@@ -13,7 +13,7 @@ barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim mode_pwm
pwm_out_sim start
ver all
posix-configs/SITL/init/test/tests_template.in
+1 -1
View File
@@ -13,7 +13,7 @@ barosim start
adcsim start
gpssim start
measairspeedsim start
pwm_out_sim mode_pwm
pwm_out_sim start
ver all
posix-configs/eagle/hil/px4.config
+1 -1
View File
@@ -47,7 +47,7 @@ mc_pos_control start
mc_att_control start
land_detector start multicopter
sleep 1
pwm_out_sim mode_pwm
pwm_out_sim start
mixer load /dev/pwm_output0 /startup/quad_x.main.mix
list_devices
list_files
posix-configs/rpi/px4_hil.config
+1 -1
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@@ -18,7 +18,7 @@ mc_pos_control start
mc_att_control start
mavlink start -x -u 14577 -r 1000000
navio_sysfs_rc_in start
pwm_out_sim mode_pwm16
pwm_out_sim start
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
logger start -t -b 200
mavlink boot_complete
src/drivers/pwm_out_sim/CMakeLists.txt
+1 -7
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@@ -33,12 +33,6 @@
px4_add_module(
MODULE drivers__pwm_out_sim
MAIN pwm_out_sim
STACK_MAIN 1200
STACK_MAX 1200
COMPILE_FLAGS
SRCS
pwm_out_sim.cpp
DEPENDS
platforms__common
PWMSim.cpp
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
src/drivers/pwm_out_sim/PWMSim.cpp
+666
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File diff suppressed because it is too large Load Diff
src/drivers/pwm_out_sim/PWMSim.hpp
+138
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@@ -0,0 +1,138 @@
/****************************************************************************
*
* Copyright (c) 2012-2018 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.
*
****************************************************************************/
#ifndef DRIVERS_PWM_OUT_SIM_PWMSIM_HPP_
#define DRIVERS_PWM_OUT_SIM_PWMSIM_HPP_
#include <string.h>
#include <drivers/device/device.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
#include <drivers/drv_pwm_output.h>
#include <lib/mixer/mixer.h>
#include <px4_common.h>
#include <px4_config.h>
#include <px4_module.h>
#include <px4_tasks.h>
#include <px4_time.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
class PWMSim : public device::CDev, public ModuleBase<PWMSim>
{
static constexpr uint32_t PWM_SIM_DISARMED_MAGIC = 900;
static constexpr uint32_t PWM_SIM_FAILSAFE_MAGIC = 600;
static constexpr uint32_t PWM_SIM_PWM_MIN_MAGIC = 1000;
static constexpr uint32_t PWM_SIM_PWM_MAX_MAGIC = 2000;
public:
enum Mode {
MODE_8PWM,
MODE_16PWM,
MODE_NONE
};
PWMSim();
virtual ~PWMSim() = default;
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static PWMSim *instantiate(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
/** @see ModuleBase::run() */
void run() override;
/** @see ModuleBase::print_status() */
int print_status() override;
int ioctl(device::file_t *filp, int cmd, unsigned long arg) override;
int set_pwm_rate(unsigned rate);
int set_mode(Mode mode);
Mode get_mode() { return _mode; }
private:
static constexpr unsigned MAX_ACTUATORS = 16;
Mode _mode{MODE_NONE};
int _update_rate{400};
int _current_update_rate{0};
int _control_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
px4_pollfd_struct_t _poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
unsigned _poll_fds_num{0};
int _armed_sub{-1};
actuator_outputs_s _actuator_outputs = {};
orb_advert_t _outputs_pub{nullptr};
unsigned _num_outputs{0};
unsigned _pwm_min[MAX_ACTUATORS] {};
unsigned _pwm_max[MAX_ACTUATORS] {};
uint32_t _groups_required{0};
uint32_t _groups_subscribed{0};
bool _armed{false};
bool _lockdown{false};
bool _failsafe{false};
MixerGroup *_mixers{nullptr};
actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
orb_id_t _control_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
static int control_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input);
void subscribe();
};
#endif /* DRIVERS_PWM_OUT_SIM_PWMSIM_HPP_ */
src/drivers/pwm_out_sim/pwm_out_sim.cpp
-1097
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