linux_pwm_out.hpp
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/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <drivers/device/device.h>
#include <drivers/drv_mixer.h>
#include <lib/cdev/CDev.hpp>
#include <lib/mathlib/mathlib.h>
#include <lib/mixer_module/mixer_module.hpp>
#include <lib/parameters/param.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/parameter_update.h>
#include <px4_platform/pwm_out_base.h>
using namespace time_literals;
class LinuxPWMOut : public cdev::CDev, public ModuleBase<LinuxPWMOut>, public OutputModuleInterface
{
public:
LinuxPWMOut();
virtual ~LinuxPWMOut();
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
void Run() override;
/** @see ModuleBase::print_status() */
int print_status() override;
int ioctl(device::file_t *filp, int cmd, unsigned long arg) override;
int init() override;
bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated) override;
private:
static constexpr int MAX_ACTUATORS = 8;
void update_params();
MixingOutput _mixing_output{MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
int _class_instance{-1};
pwm_out::PWMOutBase *_pwm_out{nullptr};
perf_counter_t _cycle_perf;
perf_counter_t _interval_perf;
};