#include <PWMSim.hpp>

Inheritance diagram for PWMSim:

Collaboration diagram for PWMSim:

Public Member Functions
	PWMSim (bool hil_mode_enabled)

int	print_status () override

void	Run () override

int	ioctl (device::file_t *filp, int cmd, unsigned long arg) override
	Perform an ioctl operation on the device. More...

bool	updateOutputs (bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated) override
	Callback to update the (physical) actuator outputs in the driver. More...

Public Member Functions inherited from cdev::CDev
	CDev (const char *devname)
	Constructor. More...

	CDev (const CDev &)=delete

CDev &	operator= (const CDev &)=delete

	CDev (CDev &&)=delete

CDev &	operator= (CDev &&)=delete

virtual	~CDev ()

virtual int	init ()

virtual int	open (file_t *filep)
	Handle an open of the device. More...

virtual int	close (file_t *filep)
	Handle a close of the device. More...

virtual ssize_t	read (file_t filep, char buffer, size_t buflen)
	Perform a read from the device. More...

virtual ssize_t	write (file_t filep, const char buffer, size_t buflen)
	Perform a write to the device. More...

virtual off_t	seek (file_t *filep, off_t offset, int whence)
	Perform a logical seek operation on the device. More...

virtual int	poll (file_t filep, px4_pollfd_struct_t fds, bool setup)
	Perform a poll setup/teardown operation. More...

const char *	get_devname () const
	Get the device name. More...

Public Member Functions inherited from OutputModuleInterface
	OutputModuleInterface (const char *name, const px4::wq_config_t &config)

virtual void	mixerChanged ()
	called whenever the mixer gets updated/reset More...

Static Public Member Functions
static int	task_spawn (int argc, char *argv[])

static int	custom_command (int argc, char *argv[])

static int	print_usage (const char *reason=nullptr)

Private Attributes
MixingOutput	_mixing_output {MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false}

uORB::Subscription	_parameter_update_sub {ORB_ID(parameter_update)}

Static Private Attributes
static constexpr uint16_t	PWM_SIM_DISARMED_MAGIC = 900

static constexpr uint16_t	PWM_SIM_FAILSAFE_MAGIC = 600

static constexpr uint16_t	PWM_SIM_PWM_MIN_MAGIC = 1000

static constexpr uint16_t	PWM_SIM_PWM_MAX_MAGIC = 2000

Additional Inherited Members
Static Public Attributes inherited from OutputModuleInterface
static constexpr int	MAX_ACTUATORS = PWM_OUTPUT_MAX_CHANNELS

Protected Member Functions inherited from cdev::CDev
virtual pollevent_t	poll_state (file_t *filep)
	Check the current state of the device for poll events from the perspective of the file. More...

virtual void	poll_notify (pollevent_t events)
	Report new poll events. More...

virtual void	poll_notify_one (px4_pollfd_struct_t *fds, pollevent_t events)
	Internal implementation of poll_notify. More...

virtual int	open_first (file_t *filep)
	Notification of the first open. More...

virtual int	close_last (file_t *filep)
	Notification of the last close. More...

virtual int	register_class_devname (const char *class_devname)
	Register a class device name, automatically adding device class instance suffix if need be. More...

virtual int	unregister_class_devname (const char *class_devname, unsigned class_instance)
	Register a class device name, automatically adding device class instance suffix if need be. More...

void	lock ()
	Take the driver lock. More...

void	unlock ()
	Release the driver lock. More...

int	unregister_driver_and_memory ()
	First, unregisters the driver. More...

Protected Attributes inherited from cdev::CDev
px4_sem_t	_lock
	lock to protect access to all class members (also for derived classes) More...

Static Protected Attributes inherited from cdev::CDev
static const px4_file_operations_t	fops = {}
	Pointer to the default cdev file operations table; useful for registering clone devices etc. More...

Detailed Description

Definition at line 47 of file PWMSim.hpp.

Constructor & Destructor Documentation

◆ PWMSim()

PWMSim::PWMSim ( bool hil_mode_enabled )

Definition at line 42 of file PWMSim.cpp.

References _mixing_output, ToneAlarmInterface::init(), PWM_SIM_DISARMED_MAGIC, PWM_SIM_FAILSAFE_MAGIC, PWM_SIM_PWM_MAX_MAGIC, PWM_SIM_PWM_MIN_MAGIC, MixingOutput::setAllDisarmedValues(), MixingOutput::setAllFailsafeValues(), MixingOutput::setAllMaxValues(), MixingOutput::setAllMinValues(), and MixingOutput::setIgnoreLockdown().

Referenced by task_spawn().

Here is the call graph for this function:

Here is the caller graph for this function:

Member Function Documentation

◆ custom_command()

int PWMSim::custom_command	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 268 of file PWMSim.cpp.

References print_usage().

Here is the call graph for this function:

◆ ioctl()

int PWMSim::ioctl	(	device::file_t *	filep,
		int	cmd,
		unsigned long	arg
	)

overridevirtual

Perform an ioctl operation on the device.

The default implementation handles DIOC_GETPRIV, and otherwise returns -ENOTTY. Subclasses should call the default implementation for any command they do not handle themselves.

Parameters

filep	Pointer to the NuttX file structure.
cmd	The ioctl command value.
arg	The ioctl argument value.

Returns: OK on success, or -errno otherwise.

Reimplemented from cdev::CDev.

Definition at line 90 of file PWMSim.cpp.

References _mixing_output, pwm_output_values::channel_count, MixingOutput::disarmedValue(), MixingOutput::failsafeValue(), MixingOutput::loadMixerThreadSafe(), cdev::CDev::lock(), OutputModuleInterface::MAX_ACTUATORS, MixingOutput::maxValue(), MixingOutput::minValue(), MIXERIOCLOADBUF, MIXERIOCRESET, OK, PWM_OUTPUT_MAX_CHANNELS, PWM_SERVO_ARM, PWM_SERVO_DISARM, PWM_SERVO_GET_COUNT, PWM_SERVO_GET_DEFAULT_UPDATE_RATE, PWM_SERVO_GET_DISARMED_PWM, PWM_SERVO_GET_FAILSAFE_PWM, PWM_SERVO_GET_MAX_PWM, PWM_SERVO_GET_MIN_PWM, PWM_SERVO_GET_RATEGROUP, PWM_SERVO_GET_SELECT_UPDATE_RATE, PWM_SERVO_GET_TRIM_PWM, PWM_SERVO_GET_UPDATE_RATE, PWM_SERVO_SET_MAX_PWM, PWM_SERVO_SET_MIN_PWM, PWM_SERVO_SET_SELECT_UPDATE_RATE, PWM_SERVO_SET_UPDATE_RATE, MixingOutput::resetMixerThreadSafe(), cdev::CDev::unlock(), and pwm_output_values::values.

Here is the call graph for this function:

◆ print_status()

int PWMSim::print_status ( )

override

See also: ModuleBase::print_status()

Definition at line 273 of file PWMSim.cpp.

References _mixing_output, and MixingOutput::printStatus().

Here is the call graph for this function:

◆ print_usage()

int PWMSim::print_usage ( const char * reason = nullptr )

static

See also: ModuleBase

Definition at line 279 of file PWMSim.cpp.

Referenced by custom_command(), and task_spawn().

Here is the caller graph for this function:

◆ Run()

void PWMSim::Run ( )

override

Definition at line 57 of file PWMSim.cpp.

References _mixing_output, _parameter_update_sub, uORB::Subscription::copy(), MixingOutput::unregister(), MixingOutput::update(), uORB::Subscription::updated(), and MixingOutput::updateSubscriptions().

Here is the call graph for this function:

◆ task_spawn()

int PWMSim::task_spawn	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 236 of file PWMSim.cpp.

References ll40ls::instance, print_usage(), and PWMSim().

Here is the call graph for this function:

◆ updateOutputs()

bool PWMSim::updateOutputs	(	bool	stop_motors,
		uint16_t	outputs[MAX_ACTUATORS],
		unsigned	num_outputs,
		unsigned	num_control_groups_updated
	)

overridevirtual

Callback to update the (physical) actuator outputs in the driver.

Parameters

stop_motors	if true, all motors must be stopped (if false, individual motors might still be stopped via outputs[i] == disarmed_value)
outputs	individual actuator outputs in range [min, max] or failsafe/disarmed value
num_outputs	number of outputs (<= max_num_outputs)
num_control_groups_updated	number of actuator_control groups updated

Returns: if true, the update got handled, and actuator_outputs can be published

Implements OutputModuleInterface.

Definition at line 81 of file PWMSim.cpp.

Member Data Documentation

◆ _mixing_output

MixingOutput PWMSim::_mixing_output {MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false}

private

Definition at line 77 of file PWMSim.hpp.

Referenced by ioctl(), print_status(), PWMSim(), and Run().

◆ _parameter_update_sub

uORB::Subscription PWMSim::_parameter_update_sub {ORB_ID(parameter_update)}

private

Definition at line 78 of file PWMSim.hpp.

Referenced by Run().

◆ PWM_SIM_DISARMED_MAGIC

constexpr uint16_t PWMSim::PWM_SIM_DISARMED_MAGIC = 900

staticprivate

Definition at line 72 of file PWMSim.hpp.

Referenced by PWMSim().

◆ PWM_SIM_FAILSAFE_MAGIC

constexpr uint16_t PWMSim::PWM_SIM_FAILSAFE_MAGIC = 600

staticprivate

Definition at line 73 of file PWMSim.hpp.

Referenced by PWMSim().

◆ PWM_SIM_PWM_MAX_MAGIC

constexpr uint16_t PWMSim::PWM_SIM_PWM_MAX_MAGIC = 2000

staticprivate

Definition at line 75 of file PWMSim.hpp.

Referenced by PWMSim().

◆ PWM_SIM_PWM_MIN_MAGIC

constexpr uint16_t PWMSim::PWM_SIM_PWM_MIN_MAGIC = 1000

staticprivate

Definition at line 74 of file PWMSim.hpp.

Referenced by PWMSim().

The documentation for this class was generated from the following files:

src/drivers/pwm_out_sim/PWMSim.hpp
src/drivers/pwm_out_sim/PWMSim.cpp

Public Member Functions

Static Public Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PWMSim()

Member Function Documentation

◆ custom_command()

◆ ioctl()

◆ print_status()

◆ print_usage()

◆ Run()

◆ task_spawn()

◆ updateOutputs()

Member Data Documentation

◆ _mixing_output

◆ _parameter_update_sub

◆ PWM_SIM_DISARMED_MAGIC

◆ PWM_SIM_FAILSAFE_MAGIC

◆ PWM_SIM_PWM_MAX_MAGIC

◆ PWM_SIM_PWM_MIN_MAGIC