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Pwm multirate #224

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merged 6 commits into from
Mar 17, 2013
Merged

Pwm multirate #224

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6cf0758
Changes for multi-rate PWM output; default and alternate rates. ioctl…
px4dev Mar 10, 2013
57429fd
Convert HIL and FMU drivers to the new multirate PWM interface.
px4dev Mar 11, 2013
7011fe5
Move PWM rate configuration, etc. into a separate utility and out of …
px4dev Mar 12, 2013
7e4d613
Make communication rate between IO and FMU configurable
LorenzMeier Mar 15, 2013
37c1f30
Fixed typo
LorenzMeier Mar 15, 2013
b5b460e
IO board now disarms when FMU reboots when manual override is not an …
Mar 15, 2013
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47 changes: 32 additions & 15 deletions apps/drivers/drv_pwm_output.h
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@
*
* Servo values can be set with the PWM_SERVO_SET ioctl, by writing a
* pwm_output_values structure to the device, or by publishing to the
* output_pwm ObjDev.
* output_pwm ORB topic.
* Writing a value of 0 to a channel suppresses any output for that
* channel.
*/
Expand All @@ -60,7 +60,7 @@ __BEGIN_DECLS
#define PWM_OUTPUT_DEVICE_PATH "/dev/pwm_output"

/**
* Maximum number of PWM output channels in the system.
* Maximum number of PWM output channels supported by the device.
*/
#define PWM_OUTPUT_MAX_CHANNELS 16

Expand All @@ -82,14 +82,14 @@ struct pwm_output_values {
};

/*
* ObjDev tag for PWM outputs.
* ORB tag for PWM outputs.
*/
ORB_DECLARE(output_pwm);

/*
* ioctl() definitions
*
* Note that ioctls and ObjDev updates should not be mixed, as the
* Note that ioctls and ORB updates should not be mixed, as the
* behaviour of the system in this case is not defined.
*/
#define _PWM_SERVO_BASE 0x2a00
Expand All @@ -100,27 +100,25 @@ ORB_DECLARE(output_pwm);
/** disarm all servo outputs (stop generating pulses) */
#define PWM_SERVO_DISARM _IOC(_PWM_SERVO_BASE, 1)

/** set update rate in Hz */
#define PWM_SERVO_SET_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 2)
/** set alternate servo update rate */
#define PWM_SERVO_SET_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 2)

/** get the number of servos in *(unsigned *)arg */
#define PWM_SERVO_GET_COUNT _IOC(_PWM_SERVO_BASE, 3)

/** set debug level for servo IO */
#define PWM_SERVO_SET_DEBUG _IOC(_PWM_SERVO_BASE, 4)

/** enable in-air restart */
#define PWM_SERVO_INAIR_RESTART_ENABLE _IOC(_PWM_SERVO_BASE, 5)

/** disable in-air restart */
#define PWM_SERVO_INAIR_RESTART_DISABLE _IOC(_PWM_SERVO_BASE, 6)
/** selects servo update rates, one bit per servo. 0 = default (50Hz), 1 = alternate */
#define PWM_SERVO_SELECT_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 4)

/** set a single servo to a specific value */
#define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo)

/** get a single specific servo value */
#define PWM_SERVO_GET(_servo) _IOC(_PWM_SERVO_BASE, 0x40 + _servo)

/** get the _n'th rate group's channels; *(uint32_t *)arg returns a bitmap of channels
* whose update rates must be the same.
*/
#define PWM_SERVO_GET_RATEGROUP(_n) _IOC(_PWM_SERVO_BASE, 0x60 + _n)

/*
* Low-level PWM output interface.
Expand Down Expand Up @@ -157,13 +155,32 @@ __EXPORT extern void up_pwm_servo_deinit(void);
__EXPORT extern void up_pwm_servo_arm(bool armed);

/**
* Set the servo update rate
* Set the servo update rate for all rate groups.
*
* @param rate The update rate in Hz to set.
* @return OK on success, -ERANGE if an unsupported update rate is set.
*/
__EXPORT extern int up_pwm_servo_set_rate(unsigned rate);

/**
* Get a bitmap of output channels assigned to a given rate group.
*
* @param group The rate group to query. Rate groups are assigned contiguously
* starting from zero.
* @return A bitmap of channels assigned to the rate group, or zero if
* the group number has no channels.
*/
__EXPORT extern uint32_t up_pwm_servo_get_rate_group(unsigned group);

/**
* Set the update rate for a given rate group.
*
* @param group The rate group whose update rate will be changed.
* @param rate The update rate in Hz.
* @return OK if the group was adjusted, -ERANGE if an unsupported update rate is set.
*/
__EXPORT extern int up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate);

/**
* Set the current output value for a channel.
*
Expand Down
86 changes: 39 additions & 47 deletions apps/drivers/hil/hil.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -158,6 +158,7 @@ HIL::HIL() :
CDev("hilservo", PWM_OUTPUT_DEVICE_PATH/*"/dev/hil" XXXL*/),
_mode(MODE_NONE),
_update_rate(50),
_current_update_rate(0),
_task(-1),
_t_actuators(-1),
_t_armed(-1),
Expand Down Expand Up @@ -511,9 +512,14 @@ HIL::pwm_ioctl(file *filp, int cmd, unsigned long arg)
break;

case PWM_SERVO_SET_UPDATE_RATE:
// HIL always outputs at the alternate (usually faster) rate
g_hil->set_pwm_rate(arg);
break;

case PWM_SERVO_SELECT_UPDATE_RATE:
// HIL always outputs at the alternate (usually faster) rate
break;

case PWM_SERVO_SET(2):
case PWM_SERVO_SET(3):
if (_mode != MODE_4PWM) {
Expand Down Expand Up @@ -549,6 +555,14 @@ HIL::pwm_ioctl(file *filp, int cmd, unsigned long arg)
break;
}

case PWM_SERVO_GET_RATEGROUP(0) ... PWM_SERVO_GET_RATEGROUP(PWM_OUTPUT_MAX_CHANNELS - 1): {
// no restrictions on output grouping
unsigned channel = cmd - PWM_SERVO_GET_RATEGROUP(0);

*(uint32_t *)arg = (1 << channel);
break;
}

case MIXERIOCGETOUTPUTCOUNT:
if (_mode == MODE_4PWM) {
*(unsigned *)arg = 4;
Expand Down Expand Up @@ -641,7 +655,7 @@ enum PortMode {
PortMode g_port_mode;

int
hil_new_mode(PortMode new_mode, int update_rate)
hil_new_mode(PortMode new_mode)
{
// uint32_t gpio_bits;

Expand Down Expand Up @@ -699,8 +713,6 @@ hil_new_mode(PortMode new_mode, int update_rate)

/* (re)set the PWM output mode */
g_hil->set_mode(servo_mode);
if ((servo_mode != HIL::MODE_NONE) && (update_rate != 0))
g_hil->set_pwm_rate(update_rate);

return OK;
}
Expand Down Expand Up @@ -786,59 +798,34 @@ int
hil_main(int argc, char *argv[])
{
PortMode new_mode = PORT_MODE_UNDEFINED;
int pwm_update_rate_in_hz = 0;

if (!strcmp(argv[1], "test"))
test();

if (!strcmp(argv[1], "fake"))
fake(argc - 1, argv + 1);
const char *verb = argv[1];

if (hil_start() != OK)
errx(1, "failed to start the FMU driver");
errx(1, "failed to start the HIL driver");

/*
* Mode switches.
*
* XXX use getopt?
*/
for (int i = 1; i < argc; i++) { /* argv[0] is "fmu" */

if (!strcmp(argv[i], "mode_pwm")) {
new_mode = PORT1_FULL_PWM;
// this was all cut-and-pasted from the FMU driver; it's junk
if (!strcmp(verb, "mode_pwm")) {
new_mode = PORT1_FULL_PWM;

} else if (!strcmp(argv[i], "mode_pwm_serial")) {
new_mode = PORT1_PWM_AND_SERIAL;
} else if (!strcmp(verb, "mode_pwm_serial")) {
new_mode = PORT1_PWM_AND_SERIAL;

} else if (!strcmp(argv[i], "mode_pwm_gpio")) {
new_mode = PORT1_PWM_AND_GPIO;

} else if (!strcmp(argv[i], "mode_port2_pwm8")) {
new_mode = PORT2_8PWM;
} else if (!strcmp(verb, "mode_pwm_gpio")) {
new_mode = PORT1_PWM_AND_GPIO;

} else if (!strcmp(argv[i], "mode_port2_pwm12")) {
new_mode = PORT2_8PWM;
} else if (!strcmp(verb, "mode_port2_pwm8")) {
new_mode = PORT2_8PWM;

} else if (!strcmp(argv[i], "mode_port2_pwm16")) {
new_mode = PORT2_8PWM;
}
} else if (!strcmp(verb, "mode_port2_pwm12")) {
new_mode = PORT2_8PWM;

/* look for the optional pwm update rate for the supported modes */
if (strcmp(argv[i], "-u") == 0 || strcmp(argv[i], "--update-rate") == 0) {
// if (new_mode == PORT1_FULL_PWM || new_mode == PORT1_PWM_AND_GPIO) {
// XXX all modes have PWM settings
if (argc > i + 1) {
pwm_update_rate_in_hz = atoi(argv[i + 1]);
printf("pwm update rate: %d Hz\n", pwm_update_rate_in_hz);
} else {
fprintf(stderr, "missing argument for pwm update rate (-u)\n");
return 1;
}
// } else {
// fprintf(stderr, "pwm update rate currently only supported for mode_pwm, mode_pwm_gpio\n");
// }
}
}
} else if (!strcmp(verb, "mode_port2_pwm16")) {
new_mode = PORT2_8PWM;
}

/* was a new mode set? */
if (new_mode != PORT_MODE_UNDEFINED) {
Expand All @@ -848,12 +835,17 @@ hil_main(int argc, char *argv[])
return OK;

/* switch modes */
return hil_new_mode(new_mode, pwm_update_rate_in_hz);
return hil_new_mode(new_mode);
}

/* test, etc. here */
if (!strcmp(verb, "test"))
test();

if (!strcmp(verb, "fake"))
fake(argc - 1, argv + 1);


fprintf(stderr, "HIL: unrecognized command, try:\n");
fprintf(stderr, " mode_pwm [-u pwm_update_rate_in_hz], mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, mode_port2_pwm8, mode_port2_pwm12, mode_port2_pwm16\n");
fprintf(stderr, " mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, mode_port2_pwm8, mode_port2_pwm12, mode_port2_pwm16\n");
return -EINVAL;
}
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