Add basic PWM capture support (#731)

* Expose pwmCaptureInterface to script runner * Update paths for pwmCapture in system-config.xml * Add ConfigurerHelper::configureLong method * Update pwmCapture interface and implementation * Add testing GUI for PWM Capture
trikset · Oct 20, 2023 · a983be0 · a983be0
1 parent dae4a0e
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Showing 15 changed files with 281 additions and 41 deletions.
diff --git a/translations/fr/trikGui_fr.ts b/translations/fr/trikGui_fr.ts
@@ -414,48 +414,54 @@
     </message>
     <message>
         <location line="+19"/>
-        <location line="+81"/>
+        <location line="+84"/>
         <source>Analog sensors</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location line="-76"/>
-        <location line="+83"/>
+        <location line="-82"/>
+        <location line="+89"/>
+        <source>PWM Capture</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location line="-83"/>
+        <location line="+90"/>
         <source>Digital sensors</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location line="-81"/>
-        <location line="+88"/>
+        <location line="-88"/>
+        <location line="+95"/>
         <source>Encoders</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location line="-86"/>
-        <location line="+93"/>
+        <location line="-93"/>
+        <location line="+100"/>
         <source>Gyroscope</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location line="-91"/>
-        <location line="+96"/>
+        <location line="-98"/>
+        <location line="+103"/>
         <source>Accelerometer</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location line="-94"/>
-        <location line="+99"/>
+        <location line="-101"/>
+        <location line="+106"/>
         <source>Camera</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location line="-127"/>
-        <location line="+64"/>
+        <location line="-137"/>
+        <location line="+67"/>
         <source>Testing</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location line="-53"/>
+        <location line="-56"/>
         <source>More...</source>
         <translation type="unfinished"></translation>
     </message>

diff --git a/translations/ru/trikGui_ru.ts b/translations/ru/trikGui_ru.ts
@@ -472,48 +472,54 @@
     </message>
     <message>
         <location line="+4"/>
-        <location line="+64"/>
+        <location line="+67"/>
         <source>Testing</source>
         <translation>Тестирование</translation>
     </message>
     <message>
-        <location line="-53"/>
+        <location line="-56"/>
         <source>More...</source>
         <translation>Еще...</translation>
     </message>
     <message>
         <location line="+4"/>
-        <location line="+81"/>
+        <location line="+84"/>
         <source>Analog sensors</source>
         <translation>Аналоговые датчики</translation>
     </message>
     <message>
-        <location line="-76"/>
-        <location line="+83"/>
+        <location line="-82"/>
+        <location line="+89"/>
+        <source>PWM Capture</source>
+        <translation>ШИМ захват</translation>
+    </message>
+    <message>
+        <location line="-83"/>
+        <location line="+90"/>
         <source>Digital sensors</source>
         <translation>Цифровые датчики</translation>
     </message>
     <message>
-        <location line="-81"/>
-        <location line="+88"/>
+        <location line="-88"/>
+        <location line="+95"/>
         <source>Encoders</source>
         <translation>Энкодеры</translation>
     </message>
     <message>
-        <location line="-86"/>
-        <location line="+93"/>
+        <location line="-93"/>
+        <location line="+100"/>
         <source>Gyroscope</source>
         <translation>Гироскоп</translation>
     </message>
     <message>
-        <location line="-91"/>
-        <location line="+96"/>
+        <location line="-98"/>
+        <location line="+103"/>
         <source>Accelerometer</source>
         <translation>Акселерометр</translation>
     </message>
     <message>
-        <location line="-94"/>
-        <location line="+99"/>
+        <location line="-101"/>
+        <location line="+106"/>
         <source>Camera</source>
         <translation>Камера</translation>
     </message>

diff --git a/trikControl/configs/kernel-3.6/system-config.xml b/trikControl/configs/kernel-3.6/system-config.xml
@@ -113,18 +113,18 @@ equal to its class name.
 		/>
 		<pwmCapture
 			port="S1"
-			frequencyFile="/sys/class/pwm/ecap_cap.2/freq"
-			dutyFile="/sys/class/pwm/ecap_cap.2/duty_percentage"
+			frequencyFile="/sys/class/pwm/ecap_cap.2/period_freq"
+			dutyFile="/sys/class/pwm/ecap_cap.2/duty_ns"
 		/>
 		<pwmCapture
 			port="S2"
-			frequencyFile="/sys/class/pwm/ecap_cap.1/freq"
-			dutyFile="/sys/class/pwm/ecap_cap.1/duty_percentage"
+			frequencyFile="/sys/class/pwm/ecap_cap.1/period_freq"
+			dutyFile="/sys/class/pwm/ecap_cap.1/duty_ns"
 		/>
 		<pwmCapture
 			port="S3"
-			frequencyFile="/sys/class/pwm/ecap_cap.0/freq"
-			dutyFile="/sys/class/pwm/ecap_cap.0/duty_percentage"
+			frequencyFile="/sys/class/pwm/ecap_cap.0/period_freq"
+			dutyFile="/sys/class/pwm/ecap_cap.0/duty_ns"
 		/>
 		<powerMotor port="M1" i2cCommandNumber="0x14" invert="true" />
 		<powerMotor port="M2" i2cCommandNumber="0x15" />

diff --git a/trikControl/include/trikControl/pwmCaptureInterface.h b/trikControl/include/trikControl/pwmCaptureInterface.h
@@ -28,12 +28,22 @@ class TRIKCONTROL_EXPORT PwmCaptureInterface : public QObject, public DeviceInte
 {
 	Q_OBJECT
 
+public:
+	/// Gets minimal possible value for PWM capture reading received by duty() slot.
+	virtual long minValue() const = 0;
+
+	/// Gets maximal possible value for PWM capture reading received by duty() slot.
+	virtual long maxValue() const = 0;
+
 public slots:
 	/// Returns three readings of PWM signal frequency.
 	virtual QVector<int> frequency() = 0;
 
-	/// Returns PWM signal duty.
-	virtual int duty() = 0;
+	/// Returns scaled PWM signal duty.
+	virtual long duty() = 0;
+
+	/// Returns raw PWM signal duty.
+	virtual long dutyRaw() = 0;
 };
 
 }

diff --git a/trikControl/src/configurerHelper.cpp b/trikControl/src/configurerHelper.cpp
@@ -45,6 +45,26 @@ int ConfigurerHelper::configureInt(const trikKernel::Configurer &configurer, Dev
 	}
 }
 
+long ConfigurerHelper::configureLong(const trikKernel::Configurer &configurer, DeviceState &state, const QString &port
+								   , const QString &parameterName)
+{
+	try {
+		bool ok = false;
+		long parameter = configurer.attributeByPort(port, parameterName).toLong(&ok, 0);
+		if (!ok) {
+			QLOG_ERROR() << QString(R"(Incorrect configuration for parameter "%1" for port "%2": "%3" )")
+								.arg(parameterName).arg(port).arg(configurer.attributeByPort(port, parameterName));
+			state.fail();
+			return 0;
+		}
+
+		return parameter;
+	} catch (trikKernel::MalformedConfigException &) {
+		state.fail();
+		return 0;
+	}
+}
+
 qreal ConfigurerHelper::configureReal(const trikKernel::Configurer &configurer, DeviceState &state, const QString &port
 		, const QString &parameterName)
 {

diff --git a/trikControl/src/configurerHelper.h b/trikControl/src/configurerHelper.h
@@ -38,6 +38,14 @@ class ConfigurerHelper
 	static int configureInt(const trikKernel::Configurer &configurer, DeviceState &state, const QString &port
 			, const QString &parameterName);
 
+	/// Reads long integer parameter from configurer, modifies device state. Returns 0 if parameter is incorrect.
+	/// @param configurer - configurer object from which parameter will be read.
+	/// @param state - reference to device state, will be set to "fail" if parameter can not be read correctly.
+	/// @param port - port of a device.
+	/// @param parameterName - name of a parameter to read.
+	static long configureLong(const trikKernel::Configurer &configurer, DeviceState &state, const QString &port
+							, const QString &parameterName);
+
 	/// Reads real parameter from configurer, modifies device state. Returns 0.0 if parameter is incorrect.
 	/// @param configurer - configurer object from which parameter will be read.
 	/// @param state - reference to device state, will be set to "fail" if parameter can not be read correctly.

diff --git a/trikControl/src/pwmCapture.cpp b/trikControl/src/pwmCapture.cpp
@@ -14,11 +14,14 @@
 
 #include "pwmCapture.h"
 
+#include <algorithm>
+
 #include <QtCore/QByteArray>
 #include <QtCore/QTextStream>
 
 #include <trikKernel/configurer.h>
 #include <trikHal/hardwareAbstractionInterface.h>
+#include "configurerHelper.h"
 
 #include <QsLog.h>
 
@@ -38,6 +41,21 @@ PwmCapture::PwmCapture(const QString &port, const trikKernel::Configurer &config
 		mState.fail();
 	}
 
+	mMinValue = ConfigurerHelper::configureLong(configurer, mState, port, "minValue");
+	mMaxValue = ConfigurerHelper::configureLong(configurer, mState, port, "maxValue");
+	mMinValueScaled = ConfigurerHelper::configureLong(configurer, mState, port, "minValueScaled");
+	mMaxValueScaled = ConfigurerHelper::configureLong(configurer, mState, port, "maxValueScaled");
+
+	if (mMinValue == mMaxValue) {
+		QLOG_ERROR() << "PWM Capture configuration error: minValue = maxValue!";
+		mState.fail();
+		mK = 0;
+		mB = 0;
+	} else {
+		mK = static_cast<qreal>(mMaxValueScaled - mMinValueScaled) / (mMaxValue - mMinValue);
+		mB = mMinValueScaled - mK * mMinValue;
+	}
+
 	mState.ready();
 }
 
@@ -63,15 +81,39 @@ QVector<int> PwmCapture::frequency()
 	return data;
 }
 
-int PwmCapture::duty()
+long PwmCapture::duty()
+{
+	if (!mState.isReady()) {
+		return {};
+	}
+
+	long data = dutyRaw();
+
+	long result = std::min(mMaxValue, std::max(mMinValue, data));
+	result = mK * result + mB;
+
+	return result;
+}
+
+long PwmCapture::dutyRaw()
 {
 	if (!mState.isReady()) {
 		return {};
 	}
 
 	mDutyFile->reset();
-	int data = 0;
+	long data = 0;
 	char c = '\0';
 	mDutyFile->stream() >> data >> c;
 	return data;
 }
+
+long PwmCapture::minValue() const
+{
+	return mMinValueScaled;
+}
+
+long PwmCapture::maxValue() const
+{
+	return mMaxValueScaled;
+}
diff --git a/trikControl/src/pwmCapture.h b/trikControl/src/pwmCapture.h
@@ -46,17 +46,30 @@ class PwmCapture : public PwmCaptureInterface
 
 	Status status() const override;
 
+	long minValue() const override;
+
+	long maxValue() const override;
+
 public slots:
 	/// Returns three readings of PWM signal frequency.
 	QVector<int> frequency() override;
 
-	/// Returns PWM signal duty.
-	int duty() override;
+	/// Returns scaled PWM signal duty.
+	long duty() override;
+
+	/// Returns raw PWM signal duty.
+	long dutyRaw() override;
 
 private:
 	QScopedPointer<trikHal::InputDeviceFileInterface> mFrequencyFile;
 	QScopedPointer<trikHal::InputDeviceFileInterface> mDutyFile;
 	DeviceState mState;
+	long mMinValue;
+	long mMaxValue;
+	long mMinValueScaled;
+	long mMaxValueScaled;
+	qreal mK;
+	qreal mB;
 };
 
 }