Inheritance diagram for PX4FMU:

Collaboration diagram for PX4FMU:

Public Types
enum	Mode { MODE_NONE, MODE_1PWM, MODE_2PWM, MODE_2PWM2CAP, MODE_3PWM, MODE_3PWM1CAP, MODE_4PWM, MODE_4PWM1CAP, MODE_4PWM2CAP, MODE_5PWM, MODE_5PWM1CAP, MODE_6PWM, MODE_8PWM, MODE_14PWM, MODE_4CAP, MODE_5CAP, MODE_6CAP }

Public Member Functions
	PX4FMU ()

virtual	~PX4FMU ()

void	Run () override

int	print_status () override

virtual int	ioctl (file *filp, int cmd, unsigned long arg)

virtual int	init ()

int	set_mode (Mode mode)

Mode	get_mode ()

void	update_pwm_trims ()

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	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	ioctl (file_t *filep, int cmd, unsigned long arg)
	Perform an ioctl 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)

static int	fmu_new_mode (PortMode new_mode)
	change the FMU mode of the running module More...

static int	test ()

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

static int	set_i2c_bus_clock (unsigned bus, unsigned clock_hz)

static void	capture_trampoline (void *context, uint32_t chan_index, hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow)

Private Member Functions
void	capture_callback (uint32_t chan_index, hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow)

void	update_current_rate ()

int	set_pwm_rate (unsigned rate_map, unsigned default_rate, unsigned alt_rate)

int	pwm_ioctl (file *filp, int cmd, unsigned long arg)

void	update_pwm_rev_mask ()

void	update_pwm_out_state (bool on)

void	update_params ()

int	capture_ioctl (file *filp, int cmd, unsigned long arg)

	PX4FMU (const PX4FMU &)=delete

PX4FMU	operator= (const PX4FMU &)=delete

Static Private Member Functions
static void	sensor_reset (int ms)

static void	peripheral_reset (int ms)

Private Attributes
MixingOutput	_mixing_output {FMU_MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, true}

Mode	_mode {MODE_NONE}

unsigned	_pwm_default_rate {50}

unsigned	_pwm_alt_rate {50}

uint32_t	_pwm_alt_rate_channels {0}

unsigned	_current_update_rate {0}

uORB::Subscription	_parameter_update_sub {ORB_ID(parameter_update)}

unsigned	_num_outputs {0}

int	_class_instance {-1}

bool	_pwm_on {false}

uint32_t	_pwm_mask {0}

bool	_pwm_initialized {false}

bool	_test_mode {false}

unsigned	_num_disarmed_set {0}

perf_counter_t	_cycle_perf

Static Private Attributes
static constexpr int	FMU_MAX_ACTUATORS = DIRECT_PWM_OUTPUT_CHANNELS

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 98 of file fmu.cpp.

Member Enumeration Documentation

◆ Mode

enum PX4FMU::Mode

Enumerator
MODE_NONE
MODE_1PWM
MODE_2PWM
MODE_2PWM2CAP
MODE_3PWM
MODE_3PWM1CAP
MODE_4PWM
MODE_4PWM1CAP
MODE_4PWM2CAP
MODE_5PWM
MODE_5PWM1CAP
MODE_6PWM
MODE_8PWM
MODE_14PWM
MODE_4CAP
MODE_5CAP
MODE_6CAP

Definition at line 101 of file fmu.cpp.

Constructor & Destructor Documentation

◆ PX4FMU() [1/2]

PX4FMU::PX4FMU ( )

Definition at line 211 of file fmu.cpp.

References _mixing_output, PWM_DEFAULT_MAX, PWM_DEFAULT_MIN, MixingOutput::setAllMaxValues(), and MixingOutput::setAllMinValues().

Referenced by task_spawn().

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◆ ~PX4FMU()

PX4FMU::~PX4FMU ( )

virtual

Definition at line 221 of file fmu.cpp.

References _class_instance, _cycle_perf, perf_free(), PWM_OUTPUT_BASE_DEVICE_PATH, cdev::CDev::unregister_class_devname(), and up_pwm_servo_deinit().

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◆ PX4FMU() [2/2]

PX4FMU::PX4FMU ( const PX4FMU & )

privatedelete

Member Function Documentation

◆ capture_callback()

void PX4FMU::capture_callback	(	uint32_t	chan_index,
		hrt_abstime	edge_time,
		uint32_t	edge_state,
		uint32_t	overflow
	)

private

Definition at line 700 of file fmu.cpp.

Referenced by capture_trampoline().

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◆ capture_ioctl()

int PX4FMU::capture_ioctl	(	file *	filp,
		int	cmd,
		unsigned long	arg
	)

private

Definition at line 1514 of file fmu.cpp.

References _mode, input_capture_config_t::callback, input_capture_stats_t::chan_in_edges_out, input_capture_config_t::channel, input_capture_config_t::context, input_capture_config_t::edge, input_capture_config_t::filter, INPUT_CAP_GET_CALLBACK, INPUT_CAP_GET_CLR_STATS, INPUT_CAP_GET_COUNT, INPUT_CAP_GET_EDGE, INPUT_CAP_GET_FILTER, INPUT_CAP_GET_STATS, INPUT_CAP_SET, INPUT_CAP_SET_CALLBACK, INPUT_CAP_SET_COUNT, INPUT_CAP_SET_EDGE, INPUT_CAP_SET_FILTER, cdev::CDev::lock(), MODE_2PWM2CAP, MODE_3PWM1CAP, MODE_4PWM1CAP, MODE_4PWM2CAP, MODE_5PWM1CAP, OK, set_mode(), cdev::CDev::unlock(), up_input_capture_get_callback(), up_input_capture_get_filter(), up_input_capture_get_stats(), up_input_capture_get_trigger(), up_input_capture_set(), up_input_capture_set_callback(), up_input_capture_set_filter(), and up_input_capture_set_trigger().

Referenced by ioctl().

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◆ capture_trampoline()

void PX4FMU::capture_trampoline	(	void *	context,
		uint32_t	chan_index,
		hrt_abstime	edge_time,
		uint32_t	edge_state,
		uint32_t	overflow
	)

static

Definition at line 692 of file fmu.cpp.

References capture_callback().

Referenced by test().

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◆ custom_command()

int PX4FMU::custom_command	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 2043 of file fmu.cpp.

References fake(), fmu_new_mode(), is_running(), peripheral_reset(), PORT_FULL_GPIO, PORT_FULL_PWM, PORT_MODE_UNSET, PORT_PWM1, PORT_PWM2, PORT_PWM2CAP2, PORT_PWM3, PORT_PWM3CAP1, PORT_PWM4, PORT_PWM4CAP1, PORT_PWM4CAP2, PORT_PWM5, PORT_PWM5CAP1, PORT_PWM6, PORT_PWM8, print_usage(), sensor_reset(), task_spawn(), and test().

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◆ fake()

int PX4FMU::fake	(	int	argc,
		char *	argv[]
	)

static

Definition at line 2001 of file fmu.cpp.

References actuator_armed_s::armed, actuator_controls_s::control, actuator_armed_s::lockdown, orb_advert_t, orb_advertise(), ORB_ID, ORB_ID_VEHICLE_ATTITUDE_CONTROLS, orb_unadvertise(), and print_usage().

Referenced by custom_command().

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◆ fmu_new_mode()

int PX4FMU::fmu_new_mode ( PortMode new_mode )

static

change the FMU mode of the running module

Definition at line 1666 of file fmu.cpp.

References get_mode(), is_running(), MODE_14PWM, MODE_1PWM, MODE_2PWM, MODE_2PWM2CAP, MODE_3PWM, MODE_3PWM1CAP, MODE_4PWM, MODE_4PWM1CAP, MODE_4PWM2CAP, MODE_5PWM, MODE_5PWM1CAP, MODE_6PWM, MODE_8PWM, MODE_NONE, OK, PORT_FULL_GPIO, PORT_FULL_PWM, PORT_MODE_UNSET, PORT_PWM1, PORT_PWM2, PORT_PWM2CAP2, PORT_PWM3, PORT_PWM3CAP1, PORT_PWM4, PORT_PWM4CAP1, PORT_PWM4CAP2, PORT_PWM5, PORT_PWM5CAP1, PORT_PWM6, PORT_PWM8, and set_i2c_bus_clock().

Referenced by custom_command().

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◆ get_mode()

Mode PX4FMU::get_mode ( )

inline

Definition at line 149 of file fmu.cpp.

References _mode, and hrt_abstime.

Referenced by fmu_new_mode().

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◆ init()

int PX4FMU::init ( )

virtual

Reimplemented from cdev::CDev.

Definition at line 233 of file fmu.cpp.

References _class_instance, _current_update_rate, _mixing_output, CLASS_DEVICE_PRIMARY, ToneAlarmInterface::init(), OK, PWM_OUTPUT_BASE_DEVICE_PATH, cdev::CDev::register_class_devname(), MixingOutput::setDriverInstance(), and update_params().

Referenced by task_spawn().

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◆ ioctl()

int PX4FMU::ioctl	(	file *	filp,
		int	cmd,
		unsigned long	arg
	)

virtual

Definition at line 795 of file fmu.cpp.

References _mode, capture_ioctl(), MODE_14PWM, MODE_1PWM, MODE_2PWM, MODE_2PWM2CAP, MODE_3PWM, MODE_3PWM1CAP, MODE_4PWM, MODE_4PWM1CAP, MODE_4PWM2CAP, MODE_5PWM, MODE_5PWM1CAP, MODE_6PWM, MODE_8PWM, and pwm_ioctl().

Referenced by test().

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◆ operator=()

PX4FMU PX4FMU::operator= ( const PX4FMU & )

privatedelete

◆ peripheral_reset()

void PX4FMU::peripheral_reset ( int ms )

staticprivate

Definition at line 1504 of file fmu.cpp.

Referenced by custom_command().

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◆ print_status()

int PX4FMU::print_status ( )

override

See also: ModuleBase::print_status()

Definition at line 2189 of file fmu.cpp.

References _current_update_rate, _cycle_perf, _mixing_output, _mode, MODE_1PWM, MODE_2PWM, MODE_2PWM2CAP, MODE_3PWM, MODE_3PWM1CAP, MODE_4CAP, MODE_4PWM, MODE_4PWM1CAP, MODE_4PWM2CAP, MODE_5CAP, MODE_5PWM, MODE_5PWM1CAP, MODE_6CAP, MODE_6PWM, MODE_8PWM, MODE_NONE, perf_print_counter(), and MixingOutput::printStatus().

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◆ print_usage()

int PX4FMU::print_usage ( const char * reason = nullptr )

static

See also: ModuleBase

Definition at line 2242 of file fmu.cpp.

Referenced by custom_command(), and fake().

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◆ pwm_ioctl()

int PX4FMU::pwm_ioctl	(	file *	filp,
		int	cmd,
		unsigned long	arg
	)

private

Definition at line 844 of file fmu.cpp.

References _mixing_output, _mode, _num_disarmed_set, _pwm_alt_rate, _pwm_alt_rate_channels, _pwm_default_rate, _test_mode, pwm_output_values::channel_count, MixingOutput::disarmedValue(), MixingOutput::failsafeValue(), FMU_MAX_ACTUATORS, MixerGroup::get_trims(), MixingOutput::loadMixerThreadSafe(), cdev::CDev::lock(), MixingOutput::maxValue(), MixingOutput::minValue(), MIXERIOCLOADBUF, MIXERIOCRESET, MixingOutput::mixers(), MODE_14PWM, MODE_1PWM, MODE_2PWM, MODE_2PWM2CAP, MODE_3PWM, MODE_3PWM1CAP, MODE_4CAP, MODE_4PWM, MODE_4PWM1CAP, MODE_4PWM2CAP, MODE_5CAP, MODE_5PWM, MODE_5PWM1CAP, MODE_6CAP, MODE_6PWM, MODE_8PWM, MODE_NONE, OK, PWM_HIGHEST_MAX, PWM_HIGHEST_MIN, PWM_LOWEST_MAX, PWM_LOWEST_MIN, PWM_SERVO_ARM, PWM_SERVO_CLEAR_ARM_OK, PWM_SERVO_DISARM, PWM_SERVO_ENTER_TEST_MODE, PWM_SERVO_EXIT_TEST_MODE, PWM_SERVO_GET, 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_MODE_1PWM, PWM_SERVO_MODE_2PWM, PWM_SERVO_MODE_2PWM2CAP, PWM_SERVO_MODE_3PWM, PWM_SERVO_MODE_3PWM1CAP, PWM_SERVO_MODE_4CAP, PWM_SERVO_MODE_4PWM, PWM_SERVO_MODE_4PWM1CAP, PWM_SERVO_MODE_4PWM2CAP, PWM_SERVO_MODE_5CAP, PWM_SERVO_MODE_5PWM, PWM_SERVO_MODE_5PWM1CAP, PWM_SERVO_MODE_6CAP, PWM_SERVO_MODE_6PWM, PWM_SERVO_MODE_8PWM, PWM_SERVO_MODE_NONE, PWM_SERVO_SET, PWM_SERVO_SET_ARM_OK, PWM_SERVO_SET_COUNT, PWM_SERVO_SET_DISARMED_PWM, PWM_SERVO_SET_FAILSAFE_PWM, PWM_SERVO_SET_FORCE_SAFETY_OFF, PWM_SERVO_SET_FORCE_SAFETY_ON, PWM_SERVO_SET_MAX_PWM, PWM_SERVO_SET_MIN_PWM, PWM_SERVO_SET_MODE, PWM_SERVO_SET_SELECT_UPDATE_RATE, PWM_SERVO_SET_TRIM_PWM, PWM_SERVO_SET_UPDATE_RATE, MixingOutput::resetMixerThreadSafe(), set_mode(), set_pwm_rate(), MixerGroup::set_trims(), cdev::CDev::unlock(), up_pwm_servo_get(), up_pwm_servo_get_rate_group(), up_pwm_servo_set(), update_pwm_out_state(), update_pwm_trims(), and pwm_output_values::values.

Referenced by ioctl().

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◆ Run()

void PX4FMU::Run ( )

override

Definition at line 744 of file fmu.cpp.

References _current_update_rate, _cycle_perf, _mixing_output, _num_disarmed_set, _parameter_update_sub, _pwm_on, actuator_armed_s::armed, MixingOutput::armed(), uORB::Subscription::copy(), actuator_armed_s::in_esc_calibration_mode, perf_begin(), perf_end(), MixingOutput::unregister(), MixingOutput::update(), update_current_rate(), update_params(), update_pwm_out_state(), uORB::Subscription::updated(), and MixingOutput::updateSubscriptions().

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◆ sensor_reset()

void PX4FMU::sensor_reset ( int ms )

staticprivate

Definition at line 1494 of file fmu.cpp.

Referenced by custom_command().

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◆ set_i2c_bus_clock()

int PX4FMU::set_i2c_bus_clock	(	unsigned	bus,
		unsigned	clock_hz
	)

static

Definition at line 561 of file fmu.cpp.

Referenced by fmu_new_mode().

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◆ set_mode()

int PX4FMU::set_mode ( Mode mode )

Definition at line 267 of file fmu.cpp.

References _mode, _num_outputs, _pwm_alt_rate, _pwm_alt_rate_channels, _pwm_default_rate, _pwm_initialized, _pwm_mask, MODE_14PWM, MODE_1PWM, MODE_2PWM, MODE_2PWM2CAP, MODE_3PWM, MODE_3PWM1CAP, MODE_4PWM, MODE_4PWM1CAP, MODE_4PWM2CAP, MODE_5PWM, MODE_5PWM1CAP, MODE_6PWM, MODE_8PWM, MODE_NONE, OK, Rising, up_input_capture_set(), and up_pwm_servo_deinit().

Referenced by capture_ioctl(), and pwm_ioctl().

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◆ set_pwm_rate()

int PX4FMU::set_pwm_rate	(	unsigned	rate_map,
		unsigned	default_rate,
		unsigned	alt_rate
	)

private

Definition at line 493 of file fmu.cpp.

References _current_update_rate, _pwm_alt_rate, _pwm_alt_rate_channels, _pwm_default_rate, FMU_MAX_ACTUATORS, OK, up_pwm_servo_get_rate_group(), and up_pwm_servo_set_rate_group_update().

Referenced by pwm_ioctl(), and update_pwm_out_state().

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◆ task_spawn()

int PX4FMU::task_spawn	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 668 of file fmu.cpp.

References init(), ll40ls::instance, and PX4FMU().

Referenced by custom_command().

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◆ test()

int PX4FMU::test ( )

static

Definition at line 1809 of file fmu.cpp.

References input_capture_config_t::callback, capture_trampoline(), input_capture_stats_t::chan_in_edges_out, cdev::CDev::close(), input_capture_config_t::context, fd, INPUT_CAP_GET_CALLBACK, INPUT_CAP_GET_COUNT, INPUT_CAP_GET_STATS, INPUT_CAP_SET_CALLBACK, INPUT_CAPTURE_MAX_CHANNELS, ioctl(), cdev::CDev::open(), cdev::CDev::poll(), PWM_SERVO_ARM, PWM_SERVO_ENTER_TEST_MODE, PWM_SERVO_EXIT_TEST_MODE, PWM_SERVO_GET, PWM_SERVO_GET_COUNT, PWM_SERVO_SET, PWM_SERVO_SET_MODE, PX4FMU_DEVICE_PATH, and cdev::CDev::read().

Referenced by custom_command().

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◆ update_current_rate()

void PX4FMU::update_current_rate ( )

private

Definition at line 567 of file fmu.cpp.

References _current_update_rate, _mixing_output, _pwm_alt_rate, _pwm_default_rate, math::constrain(), and MixingOutput::setMaxTopicUpdateRate().

Referenced by Run().

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◆ update_params()

void PX4FMU::update_params ( )

private

Definition at line 786 of file fmu.cpp.

References update_pwm_rev_mask(), and update_pwm_trims().

Referenced by init(), and Run().

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◆ update_pwm_out_state()

void PX4FMU::update_pwm_out_state ( bool on )

private

Definition at line 707 of file fmu.cpp.

References _pwm_alt_rate, _pwm_alt_rate_channels, _pwm_default_rate, _pwm_initialized, _pwm_mask, set_pwm_rate(), up_pwm_servo_arm(), and up_pwm_servo_init().

Referenced by pwm_ioctl(), and Run().

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◆ update_pwm_rev_mask()

void PX4FMU::update_pwm_rev_mask ( )

private

Definition at line 590 of file fmu.cpp.

References _class_instance, _mixing_output, CLASS_DEVICE_PRIMARY, CLASS_DEVICE_SECONDARY, FMU_MAX_ACTUATORS, param_find(), param_get(), PARAM_INVALID, and MixingOutput::reverseOutputMask().

Referenced by update_params().

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◆ update_pwm_trims()

void PX4FMU::update_pwm_trims ( )

Definition at line 624 of file fmu.cpp.

References _class_instance, _mixing_output, CLASS_DEVICE_PRIMARY, CLASS_DEVICE_SECONDARY, FMU_MAX_ACTUATORS, MixingOutput::mixers(), param_find(), param_get(), PARAM_INVALID, and MixerGroup::set_trims().

Referenced by pwm_ioctl(), and update_params().

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◆ updateOutputs()

bool PX4FMU::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 719 of file fmu.cpp.

References _pwm_initialized, _test_mode, up_pwm_servo_set(), and up_pwm_update().

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Member Data Documentation

◆ _class_instance

int PX4FMU::_class_instance {-1}

private

Definition at line 180 of file fmu.cpp.

Referenced by init(), update_pwm_rev_mask(), update_pwm_trims(), and ~PX4FMU().

◆ _current_update_rate

unsigned PX4FMU::_current_update_rate {0}

private

Definition at line 174 of file fmu.cpp.

Referenced by init(), print_status(), Run(), set_pwm_rate(), and update_current_rate().

◆ _cycle_perf

perf_counter_t PX4FMU::_cycle_perf

private

Definition at line 189 of file fmu.cpp.

Referenced by print_status(), Run(), and ~PX4FMU().

◆ _mixing_output

MixingOutput PX4FMU::_mixing_output {FMU_MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, true}

private

Definition at line 166 of file fmu.cpp.

Referenced by init(), print_status(), pwm_ioctl(), PX4FMU(), Run(), update_current_rate(), update_pwm_rev_mask(), and update_pwm_trims().

◆ _mode

Mode PX4FMU::_mode {MODE_NONE}

private

Definition at line 168 of file fmu.cpp.

Referenced by capture_ioctl(), ioctl(), print_status(), pwm_ioctl(), and set_mode().

◆ _num_disarmed_set

unsigned PX4FMU::_num_disarmed_set {0}

private

Definition at line 187 of file fmu.cpp.

Referenced by pwm_ioctl(), and Run().

◆ _num_outputs

unsigned PX4FMU::_num_outputs {0}

private

Definition at line 179 of file fmu.cpp.

Referenced by set_mode().

◆ _parameter_update_sub

uORB::Subscription PX4FMU::_parameter_update_sub {ORB_ID(parameter_update)}

private

Definition at line 176 of file fmu.cpp.

Referenced by Run().

◆ _pwm_alt_rate

unsigned PX4FMU::_pwm_alt_rate {50}

private

Definition at line 171 of file fmu.cpp.

Referenced by pwm_ioctl(), set_mode(), set_pwm_rate(), update_current_rate(), and update_pwm_out_state().

◆ _pwm_alt_rate_channels

uint32_t PX4FMU::_pwm_alt_rate_channels {0}

private

Definition at line 172 of file fmu.cpp.

Referenced by pwm_ioctl(), set_mode(), set_pwm_rate(), and update_pwm_out_state().

◆ _pwm_default_rate

unsigned PX4FMU::_pwm_default_rate {50}

private

Definition at line 170 of file fmu.cpp.

Referenced by pwm_ioctl(), set_mode(), set_pwm_rate(), update_current_rate(), and update_pwm_out_state().

◆ _pwm_initialized

bool PX4FMU::_pwm_initialized {false}

private

Definition at line 184 of file fmu.cpp.

Referenced by set_mode(), update_pwm_out_state(), and updateOutputs().

◆ _pwm_mask

uint32_t PX4FMU::_pwm_mask {0}

private

Definition at line 183 of file fmu.cpp.

Referenced by set_mode(), and update_pwm_out_state().

◆ _pwm_on

bool PX4FMU::_pwm_on {false}

private

Definition at line 182 of file fmu.cpp.

Referenced by Run().

◆ _test_mode

bool PX4FMU::_test_mode {false}

private

Definition at line 185 of file fmu.cpp.

Referenced by pwm_ioctl(), and updateOutputs().

◆ FMU_MAX_ACTUATORS

constexpr int PX4FMU::FMU_MAX_ACTUATORS = DIRECT_PWM_OUTPUT_CHANNELS

staticprivate

Definition at line 163 of file fmu.cpp.

Referenced by pwm_ioctl(), set_pwm_rate(), update_pwm_rev_mask(), and update_pwm_trims().

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

src/drivers/px4fmu/fmu.cpp

Public Types

Public Member Functions

Static Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ Mode

Constructor & Destructor Documentation

◆ PX4FMU() [1/2]

◆ ~PX4FMU()

◆ PX4FMU() [2/2]

Member Function Documentation

◆ capture_callback()

◆ capture_ioctl()

◆ capture_trampoline()

◆ custom_command()

◆ fake()

◆ fmu_new_mode()

◆ get_mode()

◆ init()

◆ ioctl()

◆ operator=()

◆ peripheral_reset()

◆ print_status()

◆ print_usage()

◆ pwm_ioctl()

◆ Run()

◆ sensor_reset()

◆ set_i2c_bus_clock()

◆ set_mode()

◆ set_pwm_rate()

◆ task_spawn()

◆ test()

◆ update_current_rate()

◆ update_params()

◆ update_pwm_out_state()

◆ update_pwm_rev_mask()

◆ update_pwm_trims()

◆ updateOutputs()

Member Data Documentation

◆ _class_instance

◆ _current_update_rate

◆ _cycle_perf

◆ _mixing_output

◆ _mode

◆ _num_disarmed_set

◆ _num_outputs

◆ _parameter_update_sub

◆ _pwm_alt_rate

◆ _pwm_alt_rate_channels

◆ _pwm_default_rate

◆ _pwm_initialized

◆ _pwm_mask

◆ _pwm_on

◆ _test_mode

◆ FMU_MAX_ACTUATORS