Classes
class	BBBlueRcPWMOut
	class BBBlueRcPWMOut PWM output class for BeagleBone Blue with Robotics Cape Library More...

class	NavioSysfsPWMOut
	class NavioSysfsPWMOut PWM output class for Navio Sysfs More...

class	OcpocMmapPWMOut
	class OcpocMmapPWMOut PWM output class for Aerotenna OcPoC via mmap More...

class	PCA9685
	Main class that exports features for PCA9685 chip. More...

class	PWMOutBase
	class PWMOutBase common abstract PWM output base class More...

Functions
static void	usage ()

static void	start ()

static void	stop ()

static void	task_main_trampoline (int argc, char *argv[])

static void	subscribe ()

static void	task_main (int argc, char *argv[])

static void	update_params (Mixer::Airmode &airmode)

int	initialize_mixer (const char *mixer_filename)

int	mixer_control_callback (uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input)

Variables
static px4_task_t	_task_handle = -1

volatile bool	_task_should_exit = false

static bool	_is_running = false

static char	_device [64] = "/sys/class/pwm/pwmchip0"

static char	_protocol [64] = "navio"

static int	_max_num_outputs = 8
	maximum number of outputs the driver should use More...

static char	_mixer_filename [64] = "ROMFS/px4fmu_common/mixers/quad_x.main.mix"

int	_controls_subs [actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]

int	_armed_sub = -1

orb_advert_t	_outputs_pub = nullptr

orb_advert_t	_rc_pub = nullptr

perf_counter_t	_perf_control_latency = nullptr

actuator_controls_s	_controls [actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]

orb_id_t	_controls_topics [actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]

actuator_outputs_s	_outputs

actuator_armed_s	_armed

uint8_t	_poll_fds_num = 0

px4_pollfd_struct_t	_poll_fds [actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]

uint32_t	_groups_required = 0

uint32_t	_groups_subscribed = 0

output_limit_t	_pwm_limit

int32_t	_pwm_disarmed

int32_t	_pwm_min

int32_t	_pwm_max

MixerGroup *	_mixer_group = nullptr

Function Documentation

◆ initialize_mixer()

int linux_pwm_out::initialize_mixer ( const char * mixer_filename )

Definition at line 152 of file linux_pwm_out.cpp.

References MixerGroup::count(), MixerGroup::load_from_buf(), load_mixer_file(), and mixer_control_callback().

Referenced by task_main().

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◆ mixer_control_callback()

int linux_pwm_out::mixer_control_callback	(	uintptr_t	handle,
		uint8_t	control_group,
		uint8_t	control_index,
		float &	input
	)

Definition at line 129 of file linux_pwm_out.cpp.

References actuator_controls_s::control.

Referenced by initialize_mixer().

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◆ start()

void linux_pwm_out::start ( )

static

Definition at line 460 of file linux_pwm_out.cpp.

References task_main_trampoline().

Referenced by linux_pwm_out_main().

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◆ stop()

void linux_pwm_out::stop ( )

static

Definition at line 479 of file linux_pwm_out.cpp.

Referenced by linux_pwm_out_main().

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◆ subscribe()

void linux_pwm_out::subscribe ( )

static

Definition at line 184 of file linux_pwm_out.cpp.

References _poll_fds_num, ORB_ID, and orb_subscribe().

Referenced by TAP_ESC::cycle(), TAP_ESC::init(), and task_main().

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◆ task_main()

void linux_pwm_out::task_main	(	int	argc,
		char *	argv[]
	)

static

Definition at line 216 of file linux_pwm_out.cpp.

References _pwm_disarmed, _pwm_max, _pwm_min, actuator_armed_s::armed, rc_channels_s::channels, actuator_controls_s::control, Mixer::disabled, f(), rc_channels_s::function, MixerGroup::groups_required(), hrt_absolute_time(), hrt_abstime, actuator_armed_s::in_esc_calibration_mode, linux_pwm_out::PWMOutBase::init(), initialize_mixer(), actuator_armed_s::lockdown, actuator_armed_s::manual_lockdown, MixerGroup::mix(), actuator_outputs_s::noutputs, orb_advertise(), orb_check(), orb_copy(), ORB_ID, orb_publish(), orb_subscribe(), orb_unsubscribe(), actuator_outputs_s::output, output_limit_calc(), output_limit_init(), OUTPUT_LIMIT_STATE_ON, PC_ELAPSED, perf_alloc, perf_free(), perf_set_elapsed(), actuator_armed_s::prearmed, px4_poll(), rc_channels, linux_pwm_out::PWMOutBase::send_output_pwm(), MixerGroup::set_airmode(), output_limit_t::state, subscribe(), actuator_outputs_s::timestamp, actuator_controls_s::timestamp_sample, and update_params().

Referenced by task_main_trampoline().

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◆ task_main_trampoline()

void linux_pwm_out::task_main_trampoline	(	int	argc,
		char *	argv[]
	)

static

Definition at line 455 of file linux_pwm_out.cpp.

References task_main().

Referenced by start().

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◆ update_params()

void linux_pwm_out::update_params ( Mixer::Airmode & airmode )

static

Definition at line 141 of file linux_pwm_out.cpp.

References param_find(), param_get(), and PARAM_INVALID.

Referenced by task_main().

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◆ usage()

void linux_pwm_out::usage ( void )

static

Definition at line 491 of file linux_pwm_out.cpp.

References linux_pwm_out_main().

Referenced by linux_pwm_out_main().

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Variable Documentation

◆ _armed

actuator_armed_s linux_pwm_out::_armed

Definition at line 91 of file linux_pwm_out.cpp.

◆ _armed_sub

int linux_pwm_out::_armed_sub = -1

Definition at line 79 of file linux_pwm_out.cpp.

◆ _controls

actuator_controls_s linux_pwm_out::_controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]

Definition at line 88 of file linux_pwm_out.cpp.

◆ _controls_subs

int linux_pwm_out::_controls_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]

Definition at line 78 of file linux_pwm_out.cpp.

◆ _controls_topics

orb_id_t linux_pwm_out::_controls_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]

Definition at line 89 of file linux_pwm_out.cpp.

◆ _device

char linux_pwm_out::_device[64] = "/sys/class/pwm/pwmchip0"

static

Definition at line 72 of file linux_pwm_out.cpp.

Referenced by linux_pwm_out_main().

◆ _groups_required

uint32_t linux_pwm_out::_groups_required = 0

Definition at line 98 of file linux_pwm_out.cpp.

◆ _groups_subscribed

uint32_t linux_pwm_out::_groups_subscribed = 0

Definition at line 99 of file linux_pwm_out.cpp.

◆ _is_running

bool linux_pwm_out::_is_running = false

static

Definition at line 70 of file linux_pwm_out.cpp.

Referenced by linux_pwm_out_main().

◆ _max_num_outputs

int linux_pwm_out::_max_num_outputs = 8

static

maximum number of outputs the driver should use

Definition at line 74 of file linux_pwm_out.cpp.

Referenced by linux_pwm_out_main().

◆ _mixer_filename

char linux_pwm_out::_mixer_filename[64] = "ROMFS/px4fmu_common/mixers/quad_x.main.mix"

static

Definition at line 75 of file linux_pwm_out.cpp.

Referenced by linux_pwm_out_main().

◆ _mixer_group

MixerGroup* linux_pwm_out::_mixer_group = nullptr

Definition at line 108 of file linux_pwm_out.cpp.

◆ _outputs

actuator_outputs_s linux_pwm_out::_outputs

Definition at line 90 of file linux_pwm_out.cpp.

◆ _outputs_pub

orb_advert_t linux_pwm_out::_outputs_pub = nullptr

Definition at line 82 of file linux_pwm_out.cpp.

◆ _perf_control_latency

perf_counter_t linux_pwm_out::_perf_control_latency = nullptr

Definition at line 85 of file linux_pwm_out.cpp.

◆ _poll_fds

px4_pollfd_struct_t linux_pwm_out::_poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]

Definition at line 95 of file linux_pwm_out.cpp.

◆ _poll_fds_num

uint8_t linux_pwm_out::_poll_fds_num = 0

Definition at line 94 of file linux_pwm_out.cpp.

Referenced by subscribe().

◆ _protocol

char linux_pwm_out::_protocol[64] = "navio"

static

Definition at line 73 of file linux_pwm_out.cpp.

Referenced by Mavlink::get_protocol(), linux_pwm_out_main(), and Mavlink::set_protocol().

◆ _pwm_disarmed

int32_t linux_pwm_out::_pwm_disarmed

Definition at line 104 of file linux_pwm_out.cpp.

Referenced by linux_pwm_out_main(), and task_main().

◆ _pwm_limit

output_limit_t linux_pwm_out::_pwm_limit

Definition at line 101 of file linux_pwm_out.cpp.

◆ _pwm_max

int32_t linux_pwm_out::_pwm_max

Definition at line 106 of file linux_pwm_out.cpp.

Referenced by linux_pwm_out_main(), and task_main().

◆ _pwm_min

int32_t linux_pwm_out::_pwm_min

Definition at line 105 of file linux_pwm_out.cpp.

Referenced by linux_pwm_out_main(), and task_main().

◆ _rc_pub

orb_advert_t linux_pwm_out::_rc_pub = nullptr

Definition at line 83 of file linux_pwm_out.cpp.

◆ _task_handle

px4_task_t linux_pwm_out::_task_handle = -1

static

Definition at line 68 of file linux_pwm_out.cpp.

◆ _task_should_exit

volatile bool linux_pwm_out::_task_should_exit = false

Definition at line 69 of file linux_pwm_out.cpp.

Classes

Functions

Variables

Function Documentation

◆ initialize_mixer()

◆ mixer_control_callback()

◆ start()

◆ stop()

◆ subscribe()

◆ task_main()

◆ task_main_trampoline()

◆ update_params()

◆ usage()

Variable Documentation

◆ _armed

◆ _armed_sub

◆ _controls

◆ _controls_subs

◆ _controls_topics

◆ _device

◆ _groups_required

◆ _groups_subscribed

◆ _is_running

◆ _max_num_outputs

◆ _mixer_filename

◆ _mixer_group

◆ _outputs

◆ _outputs_pub

◆ _perf_control_latency

◆ _poll_fds

◆ _poll_fds_num

◆ _protocol

◆ _pwm_disarmed

◆ _pwm_limit

◆ _pwm_max

◆ _pwm_min

◆ _rc_pub

◆ _task_handle

◆ _task_should_exit