snapdragon_pwm Namespace Reference

Functions
static void	usage ()
static void	start ()
static void	stop ()
static int	pwm_initialize (const char *device)
static void	pwm_deinitialize ()
static void	send_outputs_pwm (const uint16_t *pwm)
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 const int	NUM_PWM = 4
static char	_device [] = "/dev/pwm-1"
static const int	PIN_GPIO = 27
static struct ::dspal_pwm_ioctl_signal_definition	_signal_definition
static struct ::dspal_pwm	_pwm_gpio [NUM_PWM]
static struct ::dspal_pwm_ioctl_update_buffer *	_update_buffer
static struct ::dspal_pwm *	_pwm
static const int	FREQUENCY_PWM_HZ = 400
static char	_mixer_filename [32] = "/dev/fs/quad_x.main.mix"
int	_controls_subs [actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]
int	_armed_sub
int	_fd = -1
orb_advert_t	_outputs_pub = 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
output_limit_t	_pwm_limit
int32_t	_pwm_disarmed
int32_t	_pwm_min
int32_t	_pwm_max
MultirotorMixer *	_mixer = nullptr
perf_counter_t	_perf_control_latency = nullptr

Function Documentation

initialize_mixer()

int snapdragon_pwm::initialize_mixer

(

const char *

mixer_filename

)

Definition at line 176 of file snapdragon_pwm_out.cpp.

References MultirotorMixer::from_text(), mixer_control_callback(), and read().

Referenced by task_main().

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mixer_control_callback()

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

Definition at line 154 of file snapdragon_pwm_out.cpp.

References actuator_controls_s::control.

Referenced by initialize_mixer().

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pwm_deinitialize()

void snapdragon_pwm::pwm_deinitialize ( )

static

Definition at line 300 of file snapdragon_pwm_out.cpp.

References _mixer.

Referenced by task_main().

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pwm_initialize()

int snapdragon_pwm::pwm_initialize ( const char *  device )

static

Definition at line 251 of file snapdragon_pwm_out.cpp.

References _pwm_gpio, FREQUENCY_PWM_HZ, and NUM_PWM.

Referenced by task_main().

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send_outputs_pwm()

void snapdragon_pwm::send_outputs_pwm ( const uint16_t *  pwm )

static

Definition at line 307 of file snapdragon_pwm_out.cpp.

References NUM_PWM.

Referenced by task_main().

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start()

void snapdragon_pwm::start ( )

static

Definition at line 481 of file snapdragon_pwm_out.cpp.

References task_main_trampoline().

Referenced by snapdragon_pwm_out_main().

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stop()

void snapdragon_pwm::stop ( )

static

Definition at line 500 of file snapdragon_pwm_out.cpp.

Referenced by snapdragon_pwm_out_main().

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subscribe()

void snapdragon_pwm::subscribe ( )

static

Definition at line 204 of file snapdragon_pwm_out.cpp.

References _poll_fds_num, ORB_ID, and orb_subscribe().

Referenced by task_main().

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task_main()

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

static

Definition at line 317 of file snapdragon_pwm_out.cpp.

References _pwm_disarmed, _pwm_max, _pwm_min, actuator_armed_s::armed, Mixer::disabled, MultirotorMixer::groups_required(), hrt_absolute_time(), hrt_abstime, initialize_mixer(), actuator_armed_s::lockdown, actuator_armed_s::manual_lockdown, MultirotorMixer::mix(), actuator_outputs_s::noutputs, orb_advertise(), orb_check(), orb_copy(), ORB_ID, orb_publish(), orb_unsubscribe(), actuator_outputs_s::output, output_limit_calc(), output_limit_init(), PC_ELAPSED, perf_alloc, perf_free(), perf_set_elapsed(), actuator_armed_s::prearmed, pwm_deinitialize(), pwm_initialize(), px4_poll(), send_outputs_pwm(), MultirotorMixer::set_airmode(), 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 snapdragon_pwm::task_main_trampoline ( int  argc, char *  argv[]  )

static

Definition at line 476 of file snapdragon_pwm_out.cpp.

References task_main().

Referenced by start().

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update_params()

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

static

Definition at line 166 of file snapdragon_pwm_out.cpp.

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

Referenced by task_main().

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usage()

void snapdragon_pwm::usage ( void  )

static

Definition at line 512 of file snapdragon_pwm_out.cpp.

References snapdragon_pwm_out_main().

Referenced by snapdragon_pwm_out_main().

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Variable Documentation

_armed

actuator_armed_s snapdragon_pwm::_armed

Definition at line 99 of file snapdragon_pwm_out.cpp.

_armed_sub

int snapdragon_pwm::_armed_sub

Definition at line 89 of file snapdragon_pwm_out.cpp.

_controls

actuator_controls_s snapdragon_pwm::_controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]

Definition at line 96 of file snapdragon_pwm_out.cpp.

_controls_subs

int snapdragon_pwm::_controls_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]

Definition at line 88 of file snapdragon_pwm_out.cpp.

_controls_topics

orb_id_t snapdragon_pwm::_controls_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]

Definition at line 97 of file snapdragon_pwm_out.cpp.

_device

char snapdragon_pwm::_device[] = "/dev/pwm-1"

static

Definition at line 71 of file snapdragon_pwm_out.cpp.

Referenced by snapdragon_pwm_out_main().

_fd

int snapdragon_pwm::_fd = -1

Definition at line 90 of file snapdragon_pwm_out.cpp.

_groups_required

uint32_t snapdragon_pwm::_groups_required = 0

Definition at line 106 of file snapdragon_pwm_out.cpp.

_is_running

bool snapdragon_pwm::_is_running = false

static

Definition at line 69 of file snapdragon_pwm_out.cpp.

Referenced by snapdragon_pwm_out_main().

_mixer

MultirotorMixer* snapdragon_pwm::_mixer = nullptr

Definition at line 116 of file snapdragon_pwm_out.cpp.

Referenced by pwm_deinitialize().

_mixer_filename

char snapdragon_pwm::_mixer_filename[32] = "/dev/fs/quad_x.main.mix"

static

Definition at line 85 of file snapdragon_pwm_out.cpp.

Referenced by snapdragon_pwm_out_main().

_outputs

actuator_outputs_s snapdragon_pwm::_outputs

Definition at line 98 of file snapdragon_pwm_out.cpp.

_outputs_pub

orb_advert_t snapdragon_pwm::_outputs_pub = nullptr

Definition at line 93 of file snapdragon_pwm_out.cpp.

_perf_control_latency

perf_counter_t snapdragon_pwm::_perf_control_latency = nullptr

Definition at line 118 of file snapdragon_pwm_out.cpp.

_poll_fds

px4_pollfd_struct_t snapdragon_pwm::_poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]

Definition at line 103 of file snapdragon_pwm_out.cpp.

_poll_fds_num

uint8_t snapdragon_pwm::_poll_fds_num = 0

Definition at line 102 of file snapdragon_pwm_out.cpp.

Referenced by subscribe().

_pwm

struct ::dspal_pwm* snapdragon_pwm::_pwm

static

Definition at line 78 of file snapdragon_pwm_out.cpp.

_pwm_disarmed

int32_t snapdragon_pwm::_pwm_disarmed

Definition at line 112 of file snapdragon_pwm_out.cpp.

Referenced by snapdragon_pwm_out_main(), and task_main().

_pwm_gpio

struct ::dspal_pwm snapdragon_pwm::_pwm_gpio[NUM_PWM]

static

Definition at line 76 of file snapdragon_pwm_out.cpp.

Referenced by pwm_initialize().

_pwm_limit

output_limit_t snapdragon_pwm::_pwm_limit

Definition at line 109 of file snapdragon_pwm_out.cpp.

_pwm_max

int32_t snapdragon_pwm::_pwm_max

Definition at line 114 of file snapdragon_pwm_out.cpp.

Referenced by snapdragon_pwm_out_main(), and task_main().

_pwm_min

int32_t snapdragon_pwm::_pwm_min

Definition at line 113 of file snapdragon_pwm_out.cpp.

Referenced by snapdragon_pwm_out_main(), and task_main().

_signal_definition

struct ::dspal_pwm_ioctl_signal_definition snapdragon_pwm::_signal_definition

static

Definition at line 75 of file snapdragon_pwm_out.cpp.

_task_handle

px4_task_t snapdragon_pwm::_task_handle = -1

static

Definition at line 67 of file snapdragon_pwm_out.cpp.

_task_should_exit

volatile bool snapdragon_pwm::_task_should_exit = false

Definition at line 68 of file snapdragon_pwm_out.cpp.

_update_buffer

struct ::dspal_pwm_ioctl_update_buffer* snapdragon_pwm::_update_buffer

static

Definition at line 77 of file snapdragon_pwm_out.cpp.

FREQUENCY_PWM_HZ

const int snapdragon_pwm::FREQUENCY_PWM_HZ = 400

static

Definition at line 81 of file snapdragon_pwm_out.cpp.

Referenced by pwm_initialize().

NUM_PWM

const int snapdragon_pwm::NUM_PWM = 4

static

Definition at line 70 of file snapdragon_pwm_out.cpp.

Referenced by pwm_initialize(), and send_outputs_pwm().

PIN_GPIO

const int snapdragon_pwm::PIN_GPIO = 27

static

Definition at line 74 of file snapdragon_pwm_out.cpp.