pwm_out_sim cleanup

- move to ModuleBase
 - strip down to PWM 8 and 16 modes only
 - remove all dead code
 - implement missing pwm ioctls (current value, rates, etc)
 - default rate 50Hz -> 400Hz

ROMFS/px4fmu_common/init.d/rcS

@@ -504,7 +504,7 @@ then
 
 		if [ $OUTPUT_MODE == hil ]
 		then
-			if pwm_out_sim mode_pwm16
+			if pwm_out_sim start
 			then
 			else
 				tune_control play -m ${TUNE_ERR}

platforms/qurt/src/px4_layer/commands_hil.c

@@ -56,7 +56,7 @@ const char *get_commands()
 		"mc_pos_control start\n"
 		"mc_att_control start\n"
 		"sleep 1\n"
-		"pwm_out_sim mode_pwm\n"
+		"pwm_out_sim start\n"
 		"param set RC1_MAX 2015\n"
 		"param set RC1_MIN 996\n"
 		"param set RC1_TRIM 1502\n"

posix-configs/SITL/init/ekf2/hippocampus

@@ -13,7 +13,7 @@ dataman start
 
 simulator start -s
 
-pwm_out_sim mode_pwm
+pwm_out_sim start
 mixer load /dev/pwm_output0 ROMFS/px4fmu_test/mixers/uuv_quad_x.mix
 
 gyrosim start

posix-configs/SITL/init/ekf2/iris

@@ -53,7 +53,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

posix-configs/SITL/init/ekf2/iris_1

@@ -55,7 +55,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

posix-configs/SITL/init/ekf2/iris_2

@@ -55,7 +55,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

posix-configs/SITL/init/ekf2/iris_irlock

@@ -54,7 +54,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

posix-configs/SITL/init/ekf2/iris_opt_flow

@@ -56,7 +56,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

posix-configs/SITL/init/ekf2/iris_rplidar

@@ -53,7 +53,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

posix-configs/SITL/init/ekf2/multiple_iris

@@ -53,7 +53,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

posix-configs/SITL/init/ekf2/plane

@@ -61,7 +61,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 navigator start

posix-configs/SITL/init/ekf2/rover

@@ -57,7 +57,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sleep 1
 sensors start
 commander start

posix-configs/SITL/init/ekf2/solo

@@ -50,7 +50,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

posix-configs/SITL/init/ekf2/standard_vtol

@@ -68,7 +68,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start start
 sensors start
 commander start
 land_detector start vtol

posix-configs/SITL/init/ekf2/tailsitter

@@ -49,7 +49,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start vtol

posix-configs/SITL/init/ekf2/tiltrotor

@@ -70,7 +70,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start vtol

posix-configs/SITL/init/ekf2/typhoon_h480

@@ -56,7 +56,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm16
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

posix-configs/SITL/init/inav/iris

@@ -51,7 +51,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

posix-configs/SITL/init/inav/iris_opt_flow

@@ -53,7 +53,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

posix-configs/SITL/init/lpe/hippocampus

@@ -13,7 +13,7 @@ dataman start
 
 simulator start -s
 
-pwm_out_sim mode_pwm
+pwm_out_sim start
 mixer load /dev/pwm_output0 ROMFS/px4fmu_test/mixers/uuv_quad_x.mix
 
 gyrosim start

posix-configs/SITL/init/lpe/iris

@@ -53,7 +53,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

posix-configs/SITL/init/lpe/iris_1

@@ -55,7 +55,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

posix-configs/SITL/init/lpe/iris_2

@@ -55,7 +55,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

posix-configs/SITL/init/lpe/iris_irlock

@@ -61,7 +61,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

posix-configs/SITL/init/lpe/iris_opt_flow

@@ -71,7 +71,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

posix-configs/SITL/init/lpe/iris_rplidar

@@ -52,7 +52,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sleep 1
 sensors start
 commander start

posix-configs/SITL/init/lpe/plane

@@ -59,7 +59,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 navigator start

posix-configs/SITL/init/lpe/rover

@@ -53,7 +53,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sleep 1
 sensors start
 commander start

posix-configs/SITL/init/lpe/solo

@@ -53,7 +53,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

posix-configs/SITL/init/lpe/standard_vtol

@@ -63,7 +63,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start vtol

posix-configs/SITL/init/lpe/typhoon_h480

@@ -50,7 +50,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm16
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

posix-configs/SITL/init/rcS_gazebo_delta_wing

@@ -35,7 +35,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 navigator start

posix-configs/SITL/init/test/cmd_template.in

@@ -13,7 +13,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 
 ver all
 

posix-configs/SITL/init/test/tests_template.in

@@ -13,7 +13,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 
 ver all
 

posix-configs/eagle/hil/px4.config

@@ -47,7 +47,7 @@ mc_pos_control start
 mc_att_control start
 land_detector start multicopter
 sleep 1
-pwm_out_sim mode_pwm
+pwm_out_sim start
 mixer load /dev/pwm_output0 /startup/quad_x.main.mix
 list_devices
 list_files

posix-configs/rpi/px4_hil.config

@@ -18,7 +18,7 @@ mc_pos_control start
 mc_att_control start
 mavlink start -x -u 14577 -r 1000000
 navio_sysfs_rc_in start
-pwm_out_sim mode_pwm16
+pwm_out_sim start
 mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
 logger start -t -b 200
 mavlink boot_complete

src/drivers/pwm_out_sim/CMakeLists.txt

@@ -33,12 +33,6 @@
 px4_add_module(
 	MODULE drivers__pwm_out_sim
 	MAIN pwm_out_sim
-	STACK_MAIN 1200
-	STACK_MAX 1200
-	COMPILE_FLAGS
 	SRCS
-		pwm_out_sim.cpp
+		PWMSim.cpp
-	DEPENDS
-		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/drivers/pwm_out_sim/PWMSim.hpp

@@ -0,0 +1,138 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2018 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.
+ *
+ ****************************************************************************/
+
+#ifndef DRIVERS_PWM_OUT_SIM_PWMSIM_HPP_
+#define DRIVERS_PWM_OUT_SIM_PWMSIM_HPP_
+
+#include <string.h>
+
+#include <drivers/device/device.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_mixer.h>
+#include <drivers/drv_pwm_output.h>
+#include <lib/mixer/mixer.h>
+#include <px4_common.h>
+#include <px4_config.h>
+#include <px4_module.h>
+#include <px4_tasks.h>
+#include <px4_time.h>
+#include <uORB/topics/actuator_armed.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/actuator_outputs.h>
+
+class PWMSim : public device::CDev, public ModuleBase<PWMSim>
+{
+	static constexpr uint32_t PWM_SIM_DISARMED_MAGIC = 900;
+	static constexpr uint32_t PWM_SIM_FAILSAFE_MAGIC = 600;
+	static constexpr uint32_t PWM_SIM_PWM_MIN_MAGIC = 1000;
+	static constexpr uint32_t PWM_SIM_PWM_MAX_MAGIC = 2000;
+
+public:
+
+	enum Mode {
+		MODE_8PWM,
+		MODE_16PWM,
+		MODE_NONE
+	};
+
+	PWMSim();
+	virtual ~PWMSim() = default;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static PWMSim *instantiate(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	/** @see ModuleBase::run() */
+	void run() override;
+
+	/** @see ModuleBase::print_status() */
+	int print_status() override;
+
+
+	int		ioctl(device::file_t *filp, int cmd, unsigned long arg) override;
+
+	int		set_pwm_rate(unsigned rate);
+
+	int		set_mode(Mode mode);
+	Mode	get_mode() { return _mode; }
+
+private:
+	static constexpr unsigned MAX_ACTUATORS = 16;
+
+	Mode		_mode{MODE_NONE};
+
+	int 		_update_rate{400};
+	int 		_current_update_rate{0};
+
+	int			_control_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
+
+	px4_pollfd_struct_t	_poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
+	unsigned	_poll_fds_num{0};
+
+	int		_armed_sub{-1};
+
+	actuator_outputs_s _actuator_outputs = {};
+	orb_advert_t	_outputs_pub{nullptr};
+
+	unsigned	_num_outputs{0};
+
+	unsigned 	_pwm_min[MAX_ACTUATORS] {};
+	unsigned 	_pwm_max[MAX_ACTUATORS] {};
+
+	uint32_t	_groups_required{0};
+	uint32_t	_groups_subscribed{0};
+
+	bool	_armed{false};
+	bool	_lockdown{false};
+	bool	_failsafe{false};
+
+	MixerGroup	*_mixers{nullptr};
+
+	actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
+	orb_id_t	_control_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
+
+	static int	control_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input);
+
+	void 	subscribe();
+
+};
+
+#endif /* DRIVERS_PWM_OUT_SIM_PWMSIM_HPP_ */