Pixhawk控制电机命令pwm源码详解

在用USB转串口连接好飞控板之后，可以在终端使用命令pwm来进行设置pwm的输出值

例如：命令

nsh>pwm test –c 13 –p 1200

该命令用来测试通道1和3，并将他们的输出值设定为1200us。

pwm命令的源文件存储路径为：

originalcode/PX4Firmware/src/systemcmds/pwm/pwm.c

pwm命令的参数‘c’的源代码为：

case 'c':

                            /*Read in channels supplied as one int and convert to mask: 1234 -> 0xF */

                            channels= strtoul(optarg, &ep, 0);

 

                            while((single_ch = channels % 10)) {

 

                                     set_mask|= 1<<(single_ch-1);

                                     channels/= 10;

                            }

                            break;

设channels从命令行参数optarg得到的值为1234，则

single_ch =1234 % 10=4；

set_mask |= 1<<(single_ch-1)=1<<(4-1)=1<<3

{set_mask的初始值为0，所以，现在set_mask=0|1<<3=0|1000=1000}

channels/=10

{channels = 1234/10 = 123}

此段源代码一直运行，直到single_ch得到的值为0,此时set_mask的值为1111，

即四个通道的掩码值都被设置为1，参数‘c’用于选择打开哪几个通道

 

pwm命令的参数‘p’的源代码为：

case 'p':

           pwm_value = strtoul(optarg, &ep, 0);

                            if(*ep != '\0')

                                     usage("BADPWM VAL");

                            break;

pwm_value是pwm的数值，pwm_value的值从命令行参数optarg得到，并且命令行参数optarg在输入pwm的数值之后必须要有结束符，参数‘p’用于改变pwm的数值

 

pwm命令中“test”参变量的源代码详解：

 

else if (!strcmp(argv[1],"test")) {

//用来判断参变量是否是“test”命令

                   if(set_mask == 0) {

                            usage("nochannels set");

                   }

//如果set_mask值为0，说明没有设置选通通道

                   if(pwm_value == 0)

                            usage("noPWM provided");

//如果pwm_value值为0，说明pwm的数值没有设定

                   /*get current servo values */

                   structpwm_output_values last_spos;

//last_spos结构体用于存储当前电机的值

                   for(unsigned i = 0; i < servo_count; i++) {

 

 

                            ret= ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&last_spos.values[i]);

//读取电机的当前数值

                            if(ret != OK)

                                     err(1,"PWM_SERVO_GET(%d)", i);

                   }

 

                   /*perform PWM output */

 

                   /*Open console directly to grab CTRL-C signal */

                   structpollfd fds;

                   fds.fd= 0; /* stdin */

                   fds.events= POLLIN;

//设置控制台终端来接收CTRL-C信号，以终止程序

                   warnx("PressCTRL-C or 'c' to abort.");

 

                   while(1) {

                            for(unsigned i = 0; i < servo_count; i++) {

//依次选中电机

                                     if(set_mask & 1<<i) {

//set_mask与1的左移i位后的值进行相与，使得只有相应的位为1，其他的位为0，例如,i=0,

//时，set_mask的值为1,i=1时，set_mask的值为2，i=2时，set_mask的值为4，i=3时，set_mask

//的值为8,根据set_mask值得不同就可以设置，相应的电机的状态

                                               ret= ioctl(fd, PWM_SERVO_SET(i), pwm_value);

//设置相应电机的pwm的值

                                               if(ret != OK)

                                                        err(1,"PWM_SERVO_SET(%d)", i);

                                     }

                            }

 

                            /*abort on user request */

//以下代码用来在终端接收到指定的字符之后，重新恢复电机原来的转速

                            charc;

                            ret= poll(&fds, 1, 0);

                            if(ret > 0) {

 

                            read(0,&c, 1);

                                     if(c == 0x03 || c == 0x63 || c == 'q') {

//如果接收到的字符是EXT、C、Q几个字符，则会退出用户设定模式

                                               /*reset output to the last value */

                                               for(unsigned i = 0; i < servo_count; i++) {

                                                                                    if(set_mask & 1<<i) {

                                                                                             ret= ioctl(fd, PWM_SERVO_SET(i), last_spos.values[i]);

//将所有电机的油门值设为电机原来的油门值

                                                                                             if(ret != OK)

                                                                                                       err(1,"PWM_SERVO_SET(%d)", i);

                                                                                    }

                                                                           }

                                               warnx("Userabort\n");

//发出信息说明用户已经终止设置自定义油门参数

                                               exit(0);

                                     }

                            }

                            usleep(2000);

//睡眠2000毫秒

                   }

                   exit(0);