params: use PWM_MAIN_* instead of PWM_FMU_*

ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc

@@ -46,10 +46,10 @@ param set-default CA_MC_R3_PY 0.1875
 param set-default CA_MC_R3_CT 6.5
 param set-default CA_MC_R3_KM -0.05
 
-param set-default PWM_FMU_FUNC1 101
+param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_FMU_FUNC2 102
+param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_FMU_FUNC3 103
+param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_FMU_FUNC4 104
+param set-default PWM_MAIN_FUNC4 104
 
 set MIXER skip
 set MIXER_AUX none

ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc

@@ -76,12 +76,12 @@ param set-default CA_MC_R5_PY -0.5
 param set-default CA_MC_R5_CT 9.5
 param set-default CA_MC_R5_KM -0.05
 
-param set-default PWM_FMU_FUNC1 101
+param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_FMU_FUNC2 102
+param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_FMU_FUNC3 103
+param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_FMU_FUNC4 104
+param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_FMU_FUNC5 105
+param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_FMU_FUNC6 106
+param set-default PWM_MAIN_FUNC6 106
 
 set MAV_TYPE 13
 

ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc

@@ -52,8 +52,8 @@ param set-default CA_MC_R3_PY 0.177
 param set-default CA_MC_R3_CT 6.5
 param set-default CA_MC_R3_KM -0.05
 
-param set-default PWM_FMU_FUNC1 101
+param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_FMU_FUNC2 102
+param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_FMU_FUNC3 103
+param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_FMU_FUNC4 104
+param set-default PWM_MAIN_FUNC4 104
 

ROMFS/px4fmu_common/init.d/airframes/6003_hexa_x_ctrlalloc

@@ -66,12 +66,12 @@ param set-default CA_MC_R5_PY -0.1375
 param set-default CA_MC_R5_CT 6.5
 param set-default CA_MC_R5_KM -0.05
 
-param set-default PWM_FMU_FUNC1 101
+param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_FMU_FUNC2 102
+param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_FMU_FUNC3 103
+param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_FMU_FUNC4 104
+param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_FMU_FUNC5 105
+param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_FMU_FUNC6 106
+param set-default PWM_MAIN_FUNC6 106
 
 set MIXER skip
 set MIXER_AUX none

Tools/module_config/generate_params.py

@@ -31,6 +31,9 @@ parser.add_argument('--ethernet', action='store_true',
                     help='Ethernet support')
 parser.add_argument('--board', type=str, action='store',
                     help='board name, e.g. ')
+parser.add_argument('--board-with-io', dest='board_with_io', action='store_true',
+                    help='Indicate that the board as an IO for extra PWM',
+                    default=False)
 parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
                     help='Verbose Output')
 
@@ -40,23 +43,30 @@ verbose = args.verbose
 params_output_file = args.params_file
 timer_config_file = args.timer_config
 ethernet_supported = args.ethernet
+board_with_io = args.board_with_io
 board = args.board
 
 root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../..")
 output_functions_file = os.path.join(root_dir,"src/lib/mixer_module/output_functions.yaml")
 
 def process_param_prefix(param_prefix):
-    if param_prefix == '${PWM_FMU_OR_HIL}':
+    if param_prefix == '${PWM_MAIN_OR_HIL}':
-        if board == 'px4_sitl': return 'PWM_FMU'
+        if board == 'px4_sitl': return 'PWM_MAIN'
         return 'HIL_ACT'
+    if param_prefix == '${PWM_MAIN_OR_AUX}':
+        if board_with_io: return 'PWM_AUX'
+        return 'PWM_MAIN'
     if '${' in param_prefix:
         raise Exception('unhandled variable in {:}'.format(param_prefix))
     return param_prefix
 
 def process_channel_label(channel_label):
-    if channel_label == '${PWM_FMU_OR_HIL}':
+    if channel_label == '${PWM_MAIN_OR_HIL}':
         if board == 'px4_sitl': return 'PWM Sim'
         return 'HIL actuator'
+    if channel_label == '${PWM_MAIN_OR_AUX}':
+        if board_with_io: return 'PWM Aux'
+        return 'PWM Main'
     if '${' in channel_label:
         raise Exception('unhandled variable in {:}'.format(channel_label))
     return channel_label
@@ -171,9 +181,8 @@ def get_actuator_output_params(yaml_config, output_functions,
         # We do this by extending the output_groups list and parse in a later iteration
         if 'generator' in group:
             if group['generator'] == 'pwm':
-                # We might set these depending on presence of IO in build...
                 param_prefix = process_param_prefix(group['param_prefix'])
-                channel_labels = group['channel_labels']
+                channel_labels = [process_channel_label(label) for label in group['channel_labels']]
                 standard_params = group.get('standard_params', [])
                 extra_function_groups = group.get('extra_function_groups', [])
                 pwm_timer_param = group.get('pwm_timer_param', None)

cmake/kconfig.cmake

@@ -256,6 +256,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
 		# IO board (placed in ROMFS)
 		if(IO)
 			set(config_io_board ${IO} CACHE INTERNAL "IO" FORCE)
+			add_definitions(-DBOARD_WITH_IO)
 		endif()
 
 		if(UAVCAN_PERIPHERALS)

src/drivers/dshot/DShot.h

@@ -140,7 +140,12 @@ private:
 
 	void update_telemetry_num_motors();
 
-	MixingOutput _mixing_output{"PWM_FMU", DIRECT_PWM_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
+#ifdef BOARD_WITH_IO
+# define PARAM_PREFIX "PWM_AUX"
+#else
+# define PARAM_PREFIX "PWM_MAIN"
+#endif
+	MixingOutput _mixing_output {PARAM_PREFIX, DIRECT_PWM_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
 
 	Telemetry *_telemetry{nullptr};
 

src/drivers/pwm_out/PWMOut.hpp

@@ -130,7 +130,12 @@ private:
 
 	static const int MAX_PER_INSTANCE{8};
 
-	MixingOutput _mixing_output{"PWM_FMU", FMU_MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, true};
+#ifdef BOARD_WITH_IO
+# define PARAM_PREFIX "PWM_AUX"
+#else
+# define PARAM_PREFIX "PWM_MAIN"
+#endif
+	MixingOutput _mixing_output {PARAM_PREFIX, FMU_MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, true};
 
 	uint32_t	_backup_schedule_interval_us{1_s};
 

src/drivers/pwm_out/module.yaml

@@ -2,8 +2,8 @@ module_name: PWM Output
 actuator_output:
   output_groups:
     - generator: pwm
-      param_prefix: PWM_FMU
+      param_prefix: '${PWM_MAIN_OR_AUX}'
-      channel_labels: ['PWM Main', 'PWM Capture']
+      channel_labels: ['${PWM_MAIN_OR_AUX}', 'PWM Capture']
       standard_params: 
         disarmed: { min: 800, max: 2200, default: 900 }
         min: { min: 800, max: 1400, default: 1000 }

src/drivers/pwm_out_sim/PWMSim.hpp

@@ -45,7 +45,7 @@
 #include <uORB/topics/parameter_update.h>
 
 #if defined(CONFIG_ARCH_BOARD_PX4_SITL)
-#define PARAM_PREFIX "PWM_FMU"
+#define PARAM_PREFIX "PWM_MAIN"
 #else
 #define PARAM_PREFIX "HIL_ACT"
 #endif

src/drivers/pwm_out_sim/module.yaml

@@ -2,7 +2,7 @@
 module_name: PWM Sim
 actuator_output:
   output_groups:
-    - param_prefix: ${PWM_FMU_OR_HIL}
+    - param_prefix: ${PWM_MAIN_OR_HIL}
-      channel_label: ${PWM_FMU_OR_HIL}
+      channel_label: ${PWM_MAIN_OR_HIL}
       num_channels: 16
 

src/lib/parameters/CMakeLists.txt

@@ -79,6 +79,9 @@ endif()
 if(PX4_ETHERNET)
 	set(added_arguments --ethernet)
 endif()
+if(config_io_board)
+	set(board_with_io_arg --board-with-io)
+endif()
 add_custom_command(OUTPUT ${generated_serial_params_file} ${generated_module_params_file}
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_params_dir}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
@@ -87,7 +90,7 @@ add_custom_command(OUTPUT ${generated_serial_params_file} ${generated_module_par
 		--config-files ${module_config_files} #--verbose
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_params.py
 		--params-file ${generated_module_params_file}
-		${added_arguments}
+		${added_arguments} ${board_with_io_arg}
 		--timer-config ${PX4_BOARD_DIR}/src/timer_config.cpp
 		--config-files ${module_config_files} #--verbose
 		--board ${PX4_BOARD}

src/lib/pwm/pwm_aux_params.yaml

@@ -63,63 +63,6 @@ parameters:
             max: 2200
             default: 1500
 
-        PWM_AUX_MIN${i}:
-            description:
-                short: PWM aux ${i} minimum value
-                long: |
-                    This is the minimum PWM pulse the autopilot is allowed to output.
-                    When set to -1 the value for PWM_AUX_MIN will be used
-            type: int32
-            unit: us
-            min: -1
-            max: 1600
-            num_instances: *max_num_config_instances
-            instance_start: 1
-            default: -1
-
-        PWM_AUX_MAX${i}:
-            description:
-                short: PWM aux ${i} maximum value
-                long: |
-                    This is the maximum PWM pulse the autopilot is allowed to output.
-                    When set to -1 the value for PWM_AUX_MAX will be used
-            type: int32
-            unit: us
-            min: -1
-            max: 2150
-            num_instances: *max_num_config_instances
-            instance_start: 1
-            default: -1
-
-        PWM_AUX_FAIL${i}:
-            description:
-                short: PWM aux ${i} failsafe value
-                long: |
-                    This is the PWM pulse the autopilot is outputting if in failsafe mode.
-                    When set to -1 the value is set automatically depending if the actuator
-                    is a motor (900us) or a servo (1500us)
-            type: int32
-            unit: us
-            min: -1
-            max: 2150
-            num_instances: *max_num_config_instances
-            instance_start: 1
-            default: -1
-
-        PWM_AUX_DIS${i}:
-            description:
-                short: PWM aux ${i} disarmed value
-                long: |
-                    This is the PWM pulse the autopilot is outputting if not armed.
-                    When set to -1 the value for PWM_AUX_DISARM will be used
-            type: int32
-            unit: us
-            min: -1
-            max: 2150
-            num_instances: *max_num_config_instances
-            instance_start: 1
-            default: -1
-
         PWM_AUX_TRIM${i}:
             description:
                 short: PWM aux ${i} trim value

src/lib/pwm/pwm_main_params.yaml

@@ -63,63 +63,6 @@ parameters:
             max: 2200
             default: 900
 
-        PWM_MAIN_MIN${i}:
-            description:
-                short: PWM main ${i} minimum value
-                long: |
-                    This is the minimum PWM pulse the autopilot is allowed to output.
-                    When set to -1 the value for PWM_MAIN_MIN will be used
-            type: int32
-            unit: us
-            min: -1
-            max: 1600
-            num_instances: *max_num_config_instances
-            instance_start: 1
-            default: -1
-
-        PWM_MAIN_MAX${i}:
-            description:
-                short: PWM main ${i} maximum value
-                long: |
-                    This is the maximum PWM pulse the autopilot is allowed to output.
-                    When set to -1 the value for PWM_MAIN_MAX will be used
-            type: int32
-            unit: us
-            min: -1
-            max: 2150
-            num_instances: *max_num_config_instances
-            instance_start: 1
-            default: -1
-
-        PWM_MAIN_FAIL${i}:
-            description:
-                short: PWM main ${i} failsafe value
-                long: |
-                    This is the PWM pulse the autopilot is outputting if in failsafe mode.
-                    When set to -1 the value is set automatically depending if the actuator
-                    is a motor (900us) or a servo (1500us)
-            type: int32
-            unit: us
-            min: -1
-            max: 2150
-            num_instances: *max_num_config_instances
-            instance_start: 1
-            default: -1
-
-        PWM_MAIN_DIS${i}:
-            description:
-                short: PWM main ${i} disarmed value
-                long: |
-                    This is the PWM pulse the autopilot is outputting if not armed.
-                    When set to -1 the value for PWM_MAIN_DISARM will be used
-            type: int32
-            unit: us
-            min: -1
-            max: 2150
-            num_instances: *max_num_config_instances
-            instance_start: 1
-            default: -1
-
         PWM_MAIN_TRIM${i}:
             description:
                 short: PWM main ${i} trim value

validation/module_schema.yaml

@@ -240,10 +240,10 @@ actuator_output:
                         type: string
                         allowed: [ pwm ]
                     param_prefix:
-                        # parameter prefix for the min/max/disarmed/func params, e.g. PWM_FMU.
+                        # parameter prefix for the min/max/disarmed/func params, e.g. PWM_MAIN.
                         # This also needs to be specified in the source code.
                         type: string
-                        regex: '([0-9A-Z_]+|\$\{PWM_FMU_OR_HIL\})'
+                        regex: '([0-9A-Z_]+|\$\{PWM_MAIN_OR_AUX\}|\$\{PWM_MAIN_OR_HIL\})'
                         required: true
                     channel_label:
                         # Human-readable per-channel label (index will be added), e.g. 'PWM Main'