Dev/dev c pwm trigger

.vscode/settings.json

@@ -178,5 +178,6 @@
         "workbench.statusBar.feedback.visible": false,
         "yaml.schemas": {
                 "${workspaceRoot}/validation/module_schema.yaml": "${workspaceRoot}/src/modules/*/module.yaml"
-        }
+        },
+        "C_Cpp.dimInactiveRegions": false
 }

ROMFS/robomaster_common/init.d/rcS

@@ -178,6 +178,47 @@ unset BOARD_RC_SENSORS
 commander start
 
 
+# Sensors on the PWM interface bank.
+if param compare -s SENS_EN_LL40LS 1
+then
+	# Clear pins 5 and 6.
+	set FMU_MODE pwm4
+	set AUX_MODE pwm4
+fi
+
+
+# Check if ATS is enabled
+if param compare FD_EXT_ATS_EN 1
+then
+	# Clear pins 5 and 6.
+	set FMU_MODE pwm4
+	set AUX_MODE pwm4
+fi
+
+if param greater TRIG_MODE 0
+then
+	# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
+	if param compare TRIG_PINS 56
+	then
+		# clear pins 5 and 6
+		set FMU_MODE pwm4
+		set AUX_MODE pwm4
+	else
+		if param compare TRIG_PINS 78
+		then
+			# clear pins 7 and 8
+			set FMU_MODE pwm6
+			set AUX_MODE pwm6
+		else
+			set FMU_MODE none
+			set AUX_MODE none
+		fi
+	fi
+
+	camera_trigger start
+	camera_feedback start
+fi
+
 # #
 # # Optional board mavlink streams: rc.board_mavlink
 # #

boards/robomaster/dev-c/default.cmake

@@ -18,7 +18,7 @@ px4_add_board(
 		# barometer # all available barometer drivers
 		# batt_smbus
 		# camera_capture
-		# camera_trigger
+		camera_trigger
 		# differential_pressure # all available differential pressure drivers
 		# distance_sensor # all available distance sensor drivers
 		# dshot
@@ -79,7 +79,7 @@ px4_add_board(
 		#dmesg
 		# dumpfile
 		# esc_calib
-		# gpio
+		gpio
 		# hardfault_log
 		i2cdetect
 		# led_control
@@ -90,7 +90,7 @@ px4_add_board(
 		# nshterm
 		param
 		# perf
-		# pwm
+		pwm
 		reboot
 		# reflect
 		# sd_bench
@@ -104,6 +104,7 @@ px4_add_board(
 	EXAMPLES
 		# fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
+		# pwm_main
 		# hwtest # Hardware test
 		# #matlab_csv_serial
 		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html

boards/robomaster/dev-c/src/board_config.h

@@ -153,7 +153,7 @@
 
 /* PWM
  */
-#define DIRECT_PWM_OUTPUT_CHANNELS	6
+#define DIRECT_PWM_OUTPUT_CHANNELS	4
 #define DIRECT_INPUT_TIMER_CHANNELS  6
 
 /* USB OTG FS

boards/robomaster/dev-c/src/init.c

@@ -113,17 +113,17 @@ __END_DECLS
 __EXPORT void board_peripheral_reset(int ms)
 {
 	/* set the peripheral rails off */
-	stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
-	stm32_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 1);
+	// stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
+	// stm32_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 1);
 
-	/* wait for the peripheral rail to reach GND */
-	usleep(ms * 1000);
-	syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
+	// /* wait for the peripheral rail to reach GND */
+	// usleep(ms * 1000);
+	// syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
 
-	/* re-enable power */
+	// /* re-enable power */
 
-	/* switch the peripheral rail back on */
-	stm32_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 0);
+	// /* switch the peripheral rail back on */
+	// stm32_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 0);
 }
 
 /************************************************************************************

boards/robomaster/dev-c/src/timer_config.cpp

@@ -34,17 +34,17 @@
 #include <px4_arch/io_timer_hw_description.h>
 
 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOTimer(Timer::Timer1, DMA{DMA::Index2, DMA::Stream5, DMA::Channel6}),
-	initIOTimer(Timer::Timer4, DMA{DMA::Index1, DMA::Stream6, DMA::Channel2}),
+	initIOTimer(Timer::Timer1),
+	// initIOTimer(Timer::Timer8, DMA{DMA::Index1, DMA::Stream6, DMA::Channel2}),
 };
 
 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
-	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
-	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
-	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
 	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
-	initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
-	initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
+	// initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
+	// initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
 };
 
 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =

platforms/nuttx/src/px4/common/include/px4_platform/io_timer_init.h

@@ -60,6 +60,8 @@ static inline constexpr io_timers_channel_mapping_t initIOTimerChannelMapping(co
 		uint32_t first_channel = UINT32_MAX;
 		uint32_t channel_count = 0;
 
+
+		// MAX_TIMER_IO_CHANNELS is 8 here since DIRECT_PWM_OUTPUT_CHANNELS is 4 in board_config.h
 		for (uint32_t channel = 0; channel < MAX_TIMER_IO_CHANNELS; ++channel) {
 			if (timer_io_channels_conf[channel].gpio_in == 0 && timer_io_channels_conf[channel].gpio_out == 0) {
 				break;

src/drivers/camera_trigger/interfaces/src/camera_interface.cpp

@@ -15,7 +15,7 @@ CameraInterface::CameraInterface():
 void CameraInterface::get_pins()
 {
 
-	// Get parameter handle
+	// Get parameter handle. TRIG_PINS is defined as 56 in camera_trigger_param.c
 	_p_pin = param_find("TRIG_PINS");
 
 	if (_p_pin == PARAM_INVALID) {

src/examples/pwm_main/CMakeLists.txt

@@ -0,0 +1,40 @@
+############################################################################
+#
+#   Copyright (c) 2015 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.
+#
+############################################################################
+px4_add_module(
+	MODULE examples__pwm_main
+	MAIN pwm_main
+	STACK_MAIN 2000
+	SRCS
+		pwm_main.cpp
+	DEPENDS
+	)

src/examples/pwm_main/pwm_main.cpp

@@ -0,0 +1,16 @@
+/**
+ * @file pwm_main.c
+ * Main function file for PWM module
+ *
+ * @author Chen Tong
+ */
+
+#include <px4_platform_common/log.h>
+
+__EXPORT int pwm_main(int argc, char *argv[]);
+
+int pwm_main(int argc, char *argv[])
+{
+	PX4_INFO("Hello pwm!");
+	return OK;
+}