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HAL_Linux: Implement force_safety_on/off in RCOutput_PCA9685, do force_safety_on before shutting down #18635

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merged 2 commits into from Sep 14, 2021
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HAL_Linux: Implement force_safety_on/off in RCOutput_PCA9685, do force_safety_on before shutting down #18635

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4d0d521
HAL_Linux: try to stop PWMs before shutting down due to SIGTERM
Williangalvani Sep 8, 2021
1543b36
HAL_Linux: RCOutput_PCA9685: implement force_safety_on/off
Williangalvani Sep 8, 2021
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2 changes: 2 additions & 0 deletions libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
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Expand Up @@ -413,6 +413,8 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
callbacks->loop();
}

// At least try to stop all PWM before shutting down
rcout->force_safety_on();
rcin->teardown();
I2CDeviceManager::from(i2c_mgr)->teardown();
SPIDeviceManager::from(spi)->teardown();
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23 changes: 23 additions & 0 deletions libraries/AP_HAL_Linux/RCOutput_PCA9685.cpp
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Expand Up @@ -167,6 +167,29 @@ void RCOutput_PCA9685::disable_ch(uint8_t ch)
write(ch, 0);
}

bool RCOutput_PCA9685::force_safety_on() {
if (!_dev || !_dev->get_semaphore()->take(10)) {
return false;
}
/* Shutdown before sleeping. */
_dev->write_register(PCA9685_RA_ALL_LED_OFF_H, PCA9685_ALL_LED_OFF_H_SHUT);
/* Put PCA9685 to sleep */
_dev->write_register(PCA9685_RA_MODE1, PCA9685_MODE1_SLEEP_BIT);

_dev->get_semaphore()->give();
return true;
}

void RCOutput_PCA9685::force_safety_off() {
if (!_dev || !_dev->get_semaphore()->take(10)) {
return;
}
/* Restart the device and enable auto-incremented write */
_dev->write_register(PCA9685_RA_MODE1,
PCA9685_MODE1_RESTART_BIT | PCA9685_MODE1_AI_BIT);
_dev->get_semaphore()->give();
}

void RCOutput_PCA9685::write(uint8_t ch, uint16_t period_us)
{
if (ch >= (PWM_CHAN_COUNT - _channel_offset)) {
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2 changes: 2 additions & 0 deletions libraries/AP_HAL_Linux/RCOutput_PCA9685.h
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Expand Up @@ -26,6 +26,8 @@ class RCOutput_PCA9685 : public AP_HAL::RCOutput {
uint16_t get_freq(uint8_t ch) override;
void enable_ch(uint8_t ch) override;
void disable_ch(uint8_t ch) override;
bool force_safety_on() override;
void force_safety_off() override;
void write(uint8_t ch, uint16_t period_us) override;
void cork() override;
void push() override;
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