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Add support for PWM servo mode and PWM capture mode.
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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.
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@danielsheh02
danielsheh02 committed Dec 9, 2024
1 parent 14a119d commit ab31dab
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Showing 6 changed files with 56 additions and 14 deletions.
20 changes: 13 additions & 7 deletions tests/kernel-3.6/test-system-config.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
/>
<servoMotor
port="S2"
deviceFile="/sys/class/pwm/ecap.1/duty_ns"
periodFile="/sys/class/pwm/ecap.1/period_ns"
runFile="/sys/class/pwm/ecap.1/run"
captureFile="/sys/class/pwm/ecap.1/capture"
/>
<servoMotor
port="S3"
deviceFile="/sys/class/pwm/ecap.0/duty_ns"
periodFile="/sys/class/pwm/ecap.0/period_ns"
runFile="/sys/class/pwm/ecap.0/run"
captureFile="/sys/class/pwm/ecap.0/capture"
/>
<servoMotor
port="S4"
Expand All @@ -113,18 +116,21 @@ equal to its class name.
/>
<pwmCapture
port="S1"
frequencyFile="/sys/class/pwm/ecap_cap.2/freq"
dutyFile="/sys/class/pwm/ecap_cap.2/duty_percentage"
frequencyFile="/sys/class/pwm/ecap.2/period_freq"
dutyFile="/sys/class/pwm/ecap.2/duty_ns"
captureFile="/sys/class/pwm/ecap.2/capture"
/>
<pwmCapture
port="S2"
frequencyFile="/sys/class/pwm/ecap_cap.1/freq"
dutyFile="/sys/class/pwm/ecap_cap.1/duty_percentage"
frequencyFile="/sys/class/pwm/ecap.1/period_freq"
dutyFile="/sys/class/pwm/ecap.1/duty_ns"
captureFile="/sys/class/pwm/ecap.1/capture"
/>
<pwmCapture
port="S3"
frequencyFile="/sys/class/pwm/ecap_cap.0/freq"
dutyFile="/sys/class/pwm/ecap_cap.0/duty_percentage"
port="S3"
frequencyFile="/sys/class/pwm/ecap.0/period_freq"
dutyFile="/sys/class/pwm/ecap.0/duty_ns"
captureFile="/sys/class/pwm/ecap.0/capture"
/>
<powerMotor port="M1" i2cCommandNumber="0x14" invert="true" />
<powerMotor port="M2" i2cCommandNumber="0x15" />
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6 changes: 6 additions & 0 deletions tests/kernel-4.14/test-system-config.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
/>
<servoMotor
port="S2"
deviceFile="/sys/class/pwm/ecap.1/duty_ns"
periodFile="/sys/class/pwm/ecap.1/period_ns"
runFile="/sys/class/pwm/ecap.1/run"
captureFile="/sys/class/pwm/ecap.1/capture"
/>
<servoMotor
port="S3"
deviceFile="/sys/class/pwm/ecap.0/duty_ns"
periodFile="/sys/class/pwm/ecap.0/period_ns"
runFile="/sys/class/pwm/ecap.0/run"
captureFile="/sys/class/pwm/ecap.0/capture"
/>
<servoMotor
port="S4"
Expand All @@ -133,16 +136,19 @@ equal to its class name.
port="S1"
frequencyFile="/sys/class/pwm/ecap_cap.2/freq"
dutyFile="/sys/class/pwm/ecap_cap.2/duty_percentage"
captureFile="/sys/class/pwm/ecap.2/capture"
/>
<pwmCapture
port="S2"
frequencyFile="/sys/class/pwm/ecap_cap.1/freq"
dutyFile="/sys/class/pwm/ecap_cap.1/duty_percentage"
captureFile="/sys/class/pwm/ecap.1/capture"
/>
<pwmCapture
port="S3"
frequencyFile="/sys/class/pwm/ecap_cap.0/freq"
dutyFile="/sys/class/pwm/ecap_cap.0/duty_percentage"
captureFile="/sys/class/pwm/ecap.0/capture"
/>
<powerMotor port="M1" i2cCommandNumber="0x14" invert="true" />
<powerMotor port="M2" i2cCommandNumber="0x15" />
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20 changes: 13 additions & 7 deletions trikControl/configs/kernel-3.6/system-config.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
/>
<servoMotor
port="S2"
deviceFile="/sys/class/pwm/ecap.1/duty_ns"
periodFile="/sys/class/pwm/ecap.1/period_ns"
runFile="/sys/class/pwm/ecap.1/run"
captureFile="/sys/class/pwm/ecap.1/capture"
/>
<servoMotor
port="S3"
deviceFile="/sys/class/pwm/ecap.0/duty_ns"
periodFile="/sys/class/pwm/ecap.0/period_ns"
runFile="/sys/class/pwm/ecap.0/run"
captureFile="/sys/class/pwm/ecap.0/capture"
/>
<servoMotor
port="S4"
Expand All @@ -115,18 +118,21 @@ equal to its class name.
/>
<pwmCapture
port="S1"
frequencyFile="/sys/class/pwm/ecap_cap.2/period_freq"
dutyFile="/sys/class/pwm/ecap_cap.2/duty_ns"
frequencyFile="/sys/class/pwm/ecap.2/period_freq"
dutyFile="/sys/class/pwm/ecap.2/duty_ns"
captureFile="/sys/class/pwm/ecap.2/capture"
/>
<pwmCapture
port="S2"
frequencyFile="/sys/class/pwm/ecap_cap.1/period_freq"
dutyFile="/sys/class/pwm/ecap_cap.1/duty_ns"
frequencyFile="/sys/class/pwm/ecap.1/period_freq"
dutyFile="/sys/class/pwm/ecap.1/duty_ns"
captureFile="/sys/class/pwm/ecap.1/capture"
/>
<pwmCapture
port="S3"
frequencyFile="/sys/class/pwm/ecap_cap.0/period_freq"
dutyFile="/sys/class/pwm/ecap_cap.0/duty_ns"
port="S3"
frequencyFile="/sys/class/pwm/ecap.0/period_freq"
dutyFile="/sys/class/pwm/ecap.0/duty_ns"
captureFile="/sys/class/pwm/ecap.0/capture"
/>
<powerMotor port="M1" i2cCommandNumber="0x14" invert="true" />
<powerMotor port="M2" i2cCommandNumber="0x15" />
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6 changes: 6 additions & 0 deletions trikControl/configs/kernel-4.14/system-config.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
/>
<servoMotor
port="S2"
deviceFile="/sys/class/pwm/pwmchip1/pwm0/duty_cycle"
periodFile="/sys/class/pwm/pwmchip1/pwm0/period"
runFile="/sys/class/pwm/pwmchip1/pwm0/enable"
captureFile="/sys/class/pwm/pwmchip1/pwm0/capture"
/>
<servoMotor
port="S3"
deviceFile="/sys/class/pwm/pwmchip0/pwm0/duty_cycle"
periodFile="/sys/class/pwm/pwmchip0/pwm0/period"
runFile="/sys/class/pwm/pwmchip0/pwm0/enable"
captureFile="/sys/class/pwm/pwmchip0/pwm0/capture"
/>
<servoMotor
port="S4"
Expand All @@ -132,16 +135,19 @@ equal to its class name.
port="S1"
frequencyFile="/sys/class/pwm/ecap_cap.2/freq"
dutyFile="/sys/class/pwm/ecap_cap.2/duty_percentage"
captureFile="/sys/class/pwm/ecap_cap.2/capture"
/>
<pwmCapture
port="S2"
frequencyFile="/sys/class/pwm/ecap_cap.1/freq"
dutyFile="/sys/class/pwm/ecap_cap.1/duty_percentage"
captureFile="/sys/class/pwm/ecap_cap.1/capture"
/>
<pwmCapture
port="S3"
frequencyFile="/sys/class/pwm/ecap_cap.0/freq"
dutyFile="/sys/class/pwm/ecap_cap.0/duty_percentage"
captureFile="/sys/class/pwm/ecap_cap.0/capture"
/>
<powerMotor port="M1" i2cCommandNumber="0x14" invert="true" />
<powerMotor port="M2" i2cCommandNumber="0x15" />
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8 changes: 8 additions & 0 deletions trikControl/src/pwmCapture.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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<trikHal::OutputDeviceFileInterface> captureFile
(hardwareAbstraction.createOutputDeviceFile(configurer.attributeByPort(port, "captureFile")));
if (!captureFile->open()) {
mState.fail();
return;
}
captureFile->write(QString::number(1));

if (!mFrequencyFile->open()) {
mState.fail();
}
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10 changes: 10 additions & 0 deletions trikControl/src/servoMotor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,16 @@ ServoMotor::ServoMotor(const QString &port, const trikKernel::Configurer &config
, mRun(false)
, mState("Servomotor on " + port)
{
if (port == "S1" || port == "S2" || port == "S3") {
QScopedPointer<trikHal::OutputDeviceFileInterface> captureFile
(hardwareAbstraction.createOutputDeviceFile(configurer.attributeByPort(port, "captureFile")));
if (!captureFile->open()) {
mState.fail();
return;
}
captureFile->write(QString::number(0));
}

const auto configure = [this, &port, &configurer](const QString &parameterName) {
return ConfigurerHelper::configureInt(configurer, mState, port, parameterName);
};
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