From 144bf3cfbdd3447038162a0adf91614dfb7caf83 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Chehade=20Daniel=20=28=D0=A8=D0=B5=D1=85=D0=B0=D0=B4=D0=B5?= =?UTF-8?q?=20=D0=94=D0=B0=D0=BD=D0=B8=D1=8D=D0=BB=D1=8C=29?= <71555323+danielsheh02@users.noreply.github.com> Date: Mon, 9 Dec 2024 14:40:59 +0300 Subject: [PATCH] Add support for PWM servo mode and PWM capture mode. For ports S1, S2, S3, if they are in servo mode, it is necessary to write to captureFile 0. For capture mode, you need to write to captureFile 1. captureFile is not needed for ports S4, S5, S6. --- tests/kernel-3.6/test-system-config.xml | 20 ++++++++++++------- tests/kernel-4.14/test-system-config.xml | 6 ++++++ .../configs/kernel-3.6/system-config.xml | 20 ++++++++++++------- .../configs/kernel-4.14/system-config.xml | 6 ++++++ trikControl/src/pwmCapture.cpp | 8 ++++++++ trikControl/src/servoMotor.cpp | 11 ++++++++++ trikKernel/include/trikKernel/configurer.h | 3 +++ trikKernel/src/configurer.cpp | 10 ++++++++++ 8 files changed, 70 insertions(+), 14 deletions(-) diff --git a/tests/kernel-3.6/test-system-config.xml b/tests/kernel-3.6/test-system-config.xml index a6c5bc749..5a96d9ca4 100644 --- a/tests/kernel-3.6/test-system-config.xml +++ b/tests/kernel-3.6/test-system-config.xml @@ -78,18 +78,21 @@ equal to its class name. deviceFile="/sys/class/pwm/ecap.2/duty_ns" periodFile="/sys/class/pwm/ecap.2/period_ns" runFile="/sys/class/pwm/ecap.2/run" + captureFile="/sys/class/pwm/ecap.2/capture" /> diff --git a/tests/kernel-4.14/test-system-config.xml b/tests/kernel-4.14/test-system-config.xml index 3a293f0d9..27d0ea120 100644 --- a/tests/kernel-4.14/test-system-config.xml +++ b/tests/kernel-4.14/test-system-config.xml @@ -96,18 +96,21 @@ equal to its class name. deviceFile="/sys/class/pwm/ecap.2/duty_ns" periodFile="/sys/class/pwm/ecap.2/period_ns" runFile="/sys/class/pwm/ecap.2/run" + captureFile="/sys/class/pwm/ecap.2/capture" /> diff --git a/trikControl/configs/kernel-3.6/system-config.xml b/trikControl/configs/kernel-3.6/system-config.xml index e32437f6d..13c5d8383 100644 --- a/trikControl/configs/kernel-3.6/system-config.xml +++ b/trikControl/configs/kernel-3.6/system-config.xml @@ -80,18 +80,21 @@ equal to its class name. deviceFile="/sys/class/pwm/ecap.2/duty_ns" periodFile="/sys/class/pwm/ecap.2/period_ns" runFile="/sys/class/pwm/ecap.2/run" + captureFile="/sys/class/pwm/ecap.2/capture" /> diff --git a/trikControl/configs/kernel-4.14/system-config.xml b/trikControl/configs/kernel-4.14/system-config.xml index 41ec35f88..3509d6b3e 100644 --- a/trikControl/configs/kernel-4.14/system-config.xml +++ b/trikControl/configs/kernel-4.14/system-config.xml @@ -95,18 +95,21 @@ equal to its class name. deviceFile="/sys/class/pwm/pwmchip2/pwm0/duty_cycle" periodFile="/sys/class/pwm/pwmchip2/pwm0/period" runFile="/sys/class/pwm/pwmchip2/pwm0/enable" + captureFile="/sys/class/pwm/pwmchip2/pwm0/capture" /> diff --git a/trikControl/src/pwmCapture.cpp b/trikControl/src/pwmCapture.cpp index 8fe39c524..fb1efcfe8 100644 --- a/trikControl/src/pwmCapture.cpp +++ b/trikControl/src/pwmCapture.cpp @@ -33,6 +33,14 @@ PwmCapture::PwmCapture(const QString &port, const trikKernel::Configurer &config , mDutyFile(hardwareAbstraction.createInputDeviceFile(configurer.attributeByPort(port, "dutyFile"))) , mState("PWM Capture on " + port) { + QScopedPointer captureFile + (hardwareAbstraction.createOutputDeviceFile(configurer.attributeByPort(port, "captureFile"))); + if (!captureFile->open()) { + mState.fail(); + return; + } + captureFile->write(QString::number(1)); + if (!mFrequencyFile->open()) { mState.fail(); } diff --git a/trikControl/src/servoMotor.cpp b/trikControl/src/servoMotor.cpp index da3d06645..9732735c9 100644 --- a/trikControl/src/servoMotor.cpp +++ b/trikControl/src/servoMotor.cpp @@ -33,6 +33,17 @@ ServoMotor::ServoMotor(const QString &port, const trikKernel::Configurer &config , mRun(false) , mState("Servomotor on " + port) { + QString captureFileAttribute = configurer.attributeByPortOrDefault(port, "captureFile"); + if (!captureFileAttribute.isEmpty()) { + QScopedPointer captureFile + (hardwareAbstraction.createOutputDeviceFile(captureFileAttribute)); + if (!captureFile->open()) { + mState.fail(); + return; + } + captureFile->write(QString::number(0)); + } + const auto configure = [this, &port, &configurer](const QString ¶meterName) { return ConfigurerHelper::configureInt(configurer, mState, port, parameterName); }; diff --git a/trikKernel/include/trikKernel/configurer.h b/trikKernel/include/trikKernel/configurer.h index 1362f8e98..b51b86f9d 100644 --- a/trikKernel/include/trikKernel/configurer.h +++ b/trikKernel/include/trikKernel/configurer.h @@ -40,6 +40,9 @@ class TRIKKERNEL_EXPORT Configurer /// Returns value of given attribute of a device on given port. QString attributeByPort(const QString &port, const QString &attributeName) const; + /// Returns value of given attribute of a device on given port or EMPTY string. + QString attributeByPortOrDefault(const QString &port, const QString &attributeName) const; + /// Returns true if device is enabled in current configuration (either explicitly enabled in model configuration /// or can not be disabled at all). bool isEnabled(const QString &deviceName) const; diff --git a/trikKernel/src/configurer.cpp b/trikKernel/src/configurer.cpp index 08699841c..6ab5ac44e 100644 --- a/trikKernel/src/configurer.cpp +++ b/trikKernel/src/configurer.cpp @@ -137,6 +137,16 @@ QString Configurer::attributeByPort(const QString &port, const QString &attribut .arg(attributeName).arg(deviceType).arg(port)); } +QString Configurer::attributeByPortOrDefault(const QString &port, const QString &attributeName) const +{ + try{ + return attributeByPort(port, attributeName); + } catch (const trikKernel::MalformedConfigException & ex){ + QLOG_INFO() << ex.errorMessage(); + return ""; + } +} + bool Configurer::isEnabled(const QString &deviceName) const { if (mAdditionalModelConfiguration.contains(deviceName)) {