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fmu: add mode_4pwm2cap

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This commit is contained in:
DanielePettenuzzo
2018-11-10 14:07:41 +01:00
committed by Daniel Agar
parent 24f77ec5a4
commit 50f8c7349c
2 changed files with 56 additions and 11 deletions
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src/drivers/drv_pwm_output.h
+11 -10
View File
@@ -260,16 +260,17 @@ struct pwm_output_rc_config {
#define PWM_SERVO_MODE_3PWM1CAP 5
#define PWM_SERVO_MODE_4PWM 6
#define PWM_SERVO_MODE_4PWM1CAP 7
#define PWM_SERVO_MODE_5PWM 8
#define PWM_SERVO_MODE_5PWM1CAP 9
#define PWM_SERVO_MODE_6PWM 10
#define PWM_SERVO_MODE_8PWM 11
#define PWM_SERVO_MODE_14PWM 12
#define PWM_SERVO_MODE_4CAP 13
#define PWM_SERVO_MODE_5CAP 14
#define PWM_SERVO_MODE_6CAP 15
#define PWM_SERVO_ENTER_TEST_MODE 16
#define PWM_SERVO_EXIT_TEST_MODE 17
#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_14PWM 13
#define PWM_SERVO_MODE_4CAP 14
#define PWM_SERVO_MODE_5CAP 15
#define PWM_SERVO_MODE_6CAP 16
#define PWM_SERVO_ENTER_TEST_MODE 17
#define PWM_SERVO_EXIT_TEST_MODE 18
#define PWM_SERVO_SET_MODE _PX4_IOC(_PWM_SERVO_BASE, 34)
/*
src/drivers/px4fmu/fmu.cpp
+45 -1
View File
@@ -92,6 +92,7 @@ enum PortMode {
PORT_PWM1,
PORT_PWM3CAP1,
PORT_PWM4CAP1,
PORT_PWM4CAP2,
PORT_PWM5CAP1,
PORT_PWM2CAP2,
PORT_CAPTURE,
@@ -115,6 +116,7 @@ public:
MODE_3PWM1CAP,
MODE_4PWM,
MODE_4PWM1CAP,
MODE_4PWM2CAP,
MODE_5PWM,
MODE_5PWM1CAP,
MODE_6PWM,
@@ -612,6 +614,23 @@ PX4FMU::set_mode(Mode mode)
break;
#if defined(BOARD_HAS_CAPTURE)
case MODE_4PWM2CAP:
PX4_DEBUG("MODE_4PWM2CAP");
up_input_capture_set(5, Rising, 0, NULL, NULL);
/* default output rates */
_pwm_default_rate = 400;
_pwm_alt_rate = 50;
_pwm_alt_rate_channels = 0;
_pwm_mask = 0x0f;
_pwm_initialized = false;
_num_outputs = 4;
break;
#endif
#if defined(BOARD_HAS_CAPTURE)
case MODE_5PWM1CAP:
@@ -1460,6 +1479,7 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
case MODE_2PWM2CAP:
case MODE_3PWM1CAP:
case MODE_4PWM1CAP:
case MODE_4PWM2CAP:
case MODE_5PWM1CAP:
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
case MODE_6PWM:
@@ -1965,6 +1985,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
case MODE_4PWM:
case MODE_4PWM1CAP:
case MODE_4PWM2CAP:
*(unsigned *)arg = 4;
break;
@@ -2076,6 +2097,10 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
ret = set_mode(MODE_4PWM1CAP);
break;
case PWM_SERVO_MODE_4PWM2CAP:
ret = set_mode(MODE_4PWM2CAP);
break;
case PWM_SERVO_MODE_5PWM:
ret = set_mode(MODE_5PWM);
break;
@@ -2297,7 +2322,8 @@ PX4FMU::capture_ioctl(struct file *filp, int cmd, unsigned long arg)
input_capture_stats_t *stats = (input_capture_stats_t *)arg;
if (_mode == MODE_3PWM1CAP || _mode == MODE_2PWM2CAP ||
_mode == MODE_4PWM1CAP || _mode == MODE_5PWM1CAP) {
_mode == MODE_4PWM1CAP || _mode == MODE_5PWM1CAP ||
_mode == MODE_4PWM2CAP) {
pconfig = (input_capture_config_t *)arg;
}
@@ -2379,6 +2405,7 @@ PX4FMU::capture_ioctl(struct file *filp, int cmd, unsigned long arg)
break;
case MODE_2PWM2CAP:
case MODE_4PWM2CAP:
*(unsigned *)arg = 2;
break;
@@ -2405,6 +2432,10 @@ PX4FMU::capture_ioctl(struct file *filp, int cmd, unsigned long arg)
set_mode(MODE_4PWM1CAP);
break;
case MODE_4PWM2CAP:
set_mode(MODE_4PWM2CAP);
break;
case MODE_5PWM1CAP:
set_mode(MODE_5PWM1CAP);
break;
@@ -2509,6 +2540,12 @@ PX4FMU::fmu_new_mode(PortMode new_mode)
servo_mode = PX4FMU::MODE_4PWM1CAP;
break;
case PORT_PWM4CAP2:
/* select 4-pin PWM mode 2 capture */
servo_mode = PX4FMU::MODE_4PWM2CAP;
mode_with_input = true;
break;
# endif
case PORT_PWM3:
@@ -2535,6 +2572,7 @@ PX4FMU::fmu_new_mode(PortMode new_mode)
/* select 2-pin PWM mode 2 capture */
servo_mode = PX4FMU::MODE_2PWM2CAP;
break;
# endif
#endif
@@ -2911,6 +2949,9 @@ int PX4FMU::custom_command(int argc, char *argv[])
} else if (!strcmp(verb, "mode_pwm4cap1")) {
new_mode = PORT_PWM4CAP1;
} else if (!strcmp(verb, "mode_pwm4cap2")) {
new_mode = PORT_PWM4CAP2;
# endif
} else if (!strcmp(verb, "mode_pwm3")) {
@@ -3014,6 +3055,7 @@ mixer files.
PRINT_MODULE_USAGE_COMMAND("mode_pwm5cap1");
PRINT_MODULE_USAGE_COMMAND("mode_pwm4");
PRINT_MODULE_USAGE_COMMAND("mode_pwm4cap1");
PRINT_MODULE_USAGE_COMMAND("mode_pwm4cap2");
PRINT_MODULE_USAGE_COMMAND("mode_pwm3");
PRINT_MODULE_USAGE_COMMAND("mode_pwm3cap1");
PRINT_MODULE_USAGE_COMMAND("mode_pwm2");
@@ -3073,6 +3115,8 @@ int PX4FMU::print_status()
case MODE_4PWM1CAP: mode_str = "pwm4cap1"; break;
case MODE_4PWM2CAP: mode_str = "pwm4cap2"; break;
case MODE_5PWM: mode_str = "pwm5"; break;
case MODE_5PWM1CAP: mode_str = "pwm5cap1"; break;