motor_ramp.cpp File Reference

#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/getopt.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <arch/board/board.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_pwm_output.h>
#include "systemlib/err.h"
#include "uORB/topics/actuator_controls.h"

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Enumerations
enum	RampState { RAMP_INIT, RAMP_MIN, RAMP_RAMP, RAMP_WAIT }
enum	Mode { RAMP, SINE, SQUARE }

Functions
__EXPORT int	motor_ramp_main (int argc, char *argv[])
	motor_ramp management function. More...
int	motor_ramp_thread_main (int argc, char *argv[])
	Mainloop of motor_ramp. More...
bool	min_pwm_valid (int pwm_value)
bool	max_pwm_valid (int pwm_value)
int	set_min_pwm (int fd, unsigned long max_channels, int pwm_value)
int	set_out (int fd, unsigned long max_channels, float output)
int	prepare (int fd, unsigned long *max_channels)
static void	usage (const char *reason)
	Print the correct usage. More...

Variables
static bool	_thread_should_exit = false
	motor_ramp exit flag More...
static bool	_thread_running = false
	motor_ramp status flag More...
static int	_motor_ramp_task
	Handle of motor_ramp task / thread. More...
static float	_ramp_time
static int	_min_pwm
static int	_max_pwm
static Mode	_mode
static const char *	_mode_c
static const char *	_pwm_output_dev = "/dev/pwm_output0"

Detailed Description

Author

Andreas Antener andre.nosp@m.as@u.nosp@m.avent.nosp@m.ure..nosp@m.com

Roman Bapst bapst.nosp@m.roma.nosp@m.n@gma.nosp@m.il.c.nosp@m.om

Definition in file motor_ramp.cpp.

Enumeration Type Documentation

Mode

enum Mode

Enumerator
RAMP
SINE
SQUARE

Definition at line 69 of file motor_ramp.cpp.

RampState

enum RampState

Enumerator
RAMP_INIT
RAMP_MIN
RAMP_RAMP
RAMP_WAIT

Definition at line 62 of file motor_ramp.cpp.

Function Documentation

max_pwm_valid()

bool max_pwm_valid

(

int

pwm_value

)

Definition at line 267 of file motor_ramp.cpp.

References _min_pwm.

Referenced by motor_ramp_main().

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min_pwm_valid()

bool min_pwm_valid

(

int

pwm_value

)

Definition at line 262 of file motor_ramp.cpp.

Referenced by motor_ramp_main().

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motor_ramp_main()

int motor_ramp_main	(	int	argc,
		char *	argv[]
	)

motor_ramp management function.

The motor_ramp app only briefly exists to start the background job.

The stack size assigned in the Makefile does only apply to this management task.

The actual stack size should be set in the call to task_create().

Definition at line 152 of file motor_ramp.cpp.

References _max_pwm, _min_pwm, _mode, _mode_c, _motor_ramp_task, _pwm_output_dev, _ramp_time, _thread_running, _thread_should_exit, max_pwm_valid(), min_pwm_valid(), motor_ramp_thread_main(), RAMP, SINE, SQUARE, and usage().

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motor_ramp_thread_main()

int motor_ramp_thread_main	(	int	argc,
		char *	argv[]
	)

Mainloop of motor_ramp.

Definition at line 362 of file motor_ramp.cpp.

References _max_pwm, _min_pwm, _mode, _mode_c, _pwm_output_dev, _ramp_time, _thread_running, _thread_should_exit, dt, f(), fd, hrt_absolute_time(), hrt_abstime, hrt_elapsed_time(), OK, prepare(), PWM_SERVO_ENTER_TEST_MODE, PWM_SERVO_EXIT_TEST_MODE, PWM_SERVO_GET, PWM_SERVO_GET_COUNT, PWM_SERVO_GET_MIN_PWM, PWM_SERVO_SET, PWM_SERVO_SET_MIN_PWM, PWM_SERVO_SET_MODE, px4_close(), px4_ioctl(), px4_open(), RAMP, RAMP_INIT, RAMP_MIN, RAMP_RAMP, RAMP_WAIT, set_min_pwm(), set_out(), SINE, SQUARE, start(), and pwm_output_values::values.

Referenced by motor_ramp_main().

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prepare()

int prepare	(	int	fd,
		unsigned long *	max_channels
	)

Definition at line 312 of file motor_ramp.cpp.

References OK, orb_check(), orb_copy(), ORB_ID_VEHICLE_ATTITUDE_CONTROLS, orb_subscribe(), PWM_SERVO_ARM, PWM_SERVO_GET_COUNT, PWM_SERVO_SET_ARM_OK, PWM_SERVO_SET_FORCE_SAFETY_OFF, and px4_ioctl().

Referenced by motor_ramp_thread_main().

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set_min_pwm()

int set_min_pwm	(	int	fd,
		unsigned long	max_channels,
		int	pwm_value
	)

Definition at line 272 of file motor_ramp.cpp.

References pwm_output_values::channel_count, OK, PWM_SERVO_SET_MIN_PWM, px4_ioctl(), and pwm_output_values::values.

Referenced by motor_ramp_thread_main().

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set_out()

int set_out	(	int	fd,
		unsigned long	max_channels,
		float	output
	)

Definition at line 294 of file motor_ramp.cpp.

References _max_pwm, _min_pwm, OK, and PWM_SERVO_SET.

Referenced by motor_ramp_thread_main().

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usage()

static void usage ( const char *  reason )

static

Print the correct usage.

Definition at line 111 of file motor_ramp.cpp.

References f().

Referenced by motor_ramp_main().

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Variable Documentation

_max_pwm

int _max_pwm

static

Definition at line 80 of file motor_ramp.cpp.

Referenced by motor_ramp_main(), motor_ramp_thread_main(), and set_out().

_min_pwm

int _min_pwm

static

Definition at line 79 of file motor_ramp.cpp.

Referenced by max_pwm_valid(), motor_ramp_main(), motor_ramp_thread_main(), and set_out().

_mode

Mode _mode

static

Definition at line 81 of file motor_ramp.cpp.

Referenced by PrecLand::get_mode(), DShotOutput::get_mode(), PX4FMU::get_mode(), Mavlink::get_mode(), motor_ramp_main(), motor_ramp_thread_main(), and PrecLand::set_mode().

_mode_c

const char* _mode_c

static

Definition at line 82 of file motor_ramp.cpp.

Referenced by motor_ramp_main(), and motor_ramp_thread_main().

_motor_ramp_task

int _motor_ramp_task

static

Handle of motor_ramp task / thread.

Definition at line 77 of file motor_ramp.cpp.

Referenced by motor_ramp_main().

_pwm_output_dev

const char* _pwm_output_dev = "/dev/pwm_output0"

static

Definition at line 83 of file motor_ramp.cpp.

Referenced by motor_ramp_main(), and motor_ramp_thread_main().

_ramp_time

float _ramp_time

static

Definition at line 78 of file motor_ramp.cpp.

Referenced by motor_ramp_main(), and motor_ramp_thread_main().

_thread_running

bool _thread_running = false

static

motor_ramp status flag

Definition at line 76 of file motor_ramp.cpp.

Referenced by motor_ramp_main(), and motor_ramp_thread_main().

_thread_should_exit

bool _thread_should_exit = false

static

motor_ramp exit flag

Definition at line 75 of file motor_ramp.cpp.

Referenced by motor_ramp_main(), and motor_ramp_thread_main().