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pwm_out_sim: various fixes for tiltrotor simulation

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- increased the number of pwm outputs
- handle PWM_SERVO_SET_MIN_PWM and PWM_SERVO_SET_MAX_PWM

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-02-22 11:33:13 +01:00
committed by Daniel Agar
parent 2886fe8da3
commit e9c715f89b
1 changed files with 47 additions and 2 deletions
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src/drivers/pwm_out_sim/pwm_out_sim.cpp
+47 -2
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@@ -86,6 +86,8 @@ class PWMSim : public device::CDev
{
const uint32_t PWM_SIM_DISARMED_MAGIC = 900;
const uint32_t PWM_SIM_FAILSAFE_MAGIC = 600;
const uint32_t PWM_SIM_PWM_MIN_MAGIC = 1000;
const uint32_t PWM_SIM_PWM_MAX_MAGIC = 2000;
public:
enum Mode {
MODE_2PWM,
@@ -108,7 +110,7 @@ public:
int _task;
private:
static const unsigned _max_actuators = 8;
static const unsigned _max_actuators = 16;
Mode _mode;
int _update_rate;
@@ -120,6 +122,8 @@ private:
orb_advert_t _outputs_pub;
unsigned _num_outputs;
bool _primary_pwm_device;
unsigned _pwm_min[_max_actuators];
unsigned _pwm_max[_max_actuators];
uint32_t _groups_required;
uint32_t _groups_subscribed;
@@ -192,6 +196,11 @@ PWMSim::PWMSim() :
{
memset(_controls, 0, sizeof(_controls));
for(unsigned i = 0; i < _max_actuators; i++) {
_pwm_min[i] = PWM_SIM_PWM_MIN_MAGIC;
_pwm_max[i] = PWM_SIM_PWM_MAX_MAGIC;
}
_control_topics[0] = ORB_ID(actuator_controls_0);
_control_topics[1] = ORB_ID(actuator_controls_1);
_control_topics[2] = ORB_ID(actuator_controls_2);
@@ -463,6 +472,10 @@ PWMSim::task_main()
num_outputs = 8;
break;
case MODE_12PWM:
num_outputs = 12;
break;
case MODE_16PWM:
num_outputs = 16;
break;
@@ -494,6 +507,14 @@ PWMSim::task_main()
/* scale for PWM output 1000 - 2000us */
outputs.output[i] = 1500 + (500 * outputs.output[i]);
if (outputs.output[i] > _pwm_max[i]) {
outputs.output[i] = _pwm_max[i];
}
if (outputs.output[i] < _pwm_min[i]) {
outputs.output[i] = _pwm_min[i];
}
} else {
/*
* Value is NaN, INF or out of band - set to the minimum value.
@@ -618,6 +639,26 @@ PWMSim::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
// up_pwm_servo_arm(false);
break;
case PWM_SERVO_SET_MIN_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
for(unsigned i = 0; i < pwm->channel_count; i++) {
if (i <= _max_actuators)
_pwm_min[i] = pwm->values[i];
}
break;
}
case PWM_SERVO_SET_MAX_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
for(unsigned i = 0; i < pwm->channel_count; i++) {
if (i <= _max_actuators)
_pwm_max[i] = pwm->values[i];
}
break;
}
case PWM_SERVO_SET_UPDATE_RATE:
// PWMSim always outputs at the alternate (usually faster) rate
g_pwm_sim->set_pwm_rate(arg);
@@ -754,6 +795,10 @@ PWMSim::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
if (_mode == MODE_16PWM) {
*(unsigned *)arg = 16;
} else if (_mode == MODE_12PWM) {
*(unsigned *)arg = 12;
} else if (_mode == MODE_8PWM) {
*(unsigned *)arg = 8;
@@ -993,7 +1038,7 @@ pwm_out_sim_main(int argc, char *argv[])
// this was all cut-and-pasted from the FMU driver; it's junk
if (!strcmp(verb, "mode_pwm")) {
new_mode = PORT1_FULL_PWM;
new_mode = PORT2_12PWM;
} else if (!strcmp(verb, "mode_port2_pwm8")) {
new_mode = PORT2_8PWM;