linux_pwm_out: refactor to run on a work queue and use mixer_module

Tools/uorb_graph/create.py

@@ -225,7 +225,6 @@ class Graph(object):
 
     ('tap_esc', r'.*', r'\b_control_topics\[[0-9]\]=([^,)]+)', r'^_control_topics\[i\]$'),
     ('snapdragon_pwm_out', r'.*', r'\b_controls_topics\[[0-9]\]=([^,)]+)', r'^_controls_topics\[i\]$'),
-    ('linux_pwm_out', r'.*', r'\b_controls_topics\[[0-9]\]=([^,)]+)', r'^_controls_topics\[i\]$'),
     ]
         special_cases_sub = [(a, re.compile(b), re.compile(c) if c is not None else None, re.compile(d))
                                    for a,b,c,d in special_cases_sub]

boards/aerotenna/ocpoc/default.cmake

@@ -73,6 +73,7 @@ px4_add_board(
 		led_control
 		mixer
 		motor_ramp
+		motor_test
 		param
 		perf
 		pwm

boards/beaglebone/blue/default.cmake

@@ -69,6 +69,7 @@ px4_add_board(
 		led_control
 		mixer
 		motor_ramp
+		motor_test
 		param
 		perf
 		pwm

boards/emlid/navio2/default.cmake

@@ -69,6 +69,7 @@ px4_add_board(
 		led_control
 		mixer
 		motor_ramp
+		motor_test
 		param
 		perf
 		pwm

posix-configs/bbblue/px4.config

@@ -82,9 +82,8 @@ sleep 1
 # RC port is mapped to /dev/ttyS4 (auto-detected)
 #rc_input start -d /dev/ttyS4
 
-# default: etc/mixers/quad_x.main.mix, 8 output channels
-linux_pwm_out start -m etc/mixers/quad_x.main.mix
-#linux_pwm_out start -m etc/mixers/AETRFG.main.mix
+linux_pwm_out start
+mixer load /dev/pwm_out etc/mixers/quad_x.main.mix
 
 logger start -t -b 200
 

posix-configs/bbblue/px4_fw.config

@@ -77,9 +77,8 @@ sleep 1
 # RC port is mapped to /dev/ttyS4 (auto-detected)
 rc_input start -d /dev/ttyS4
 
-# default: etc/mixers/quad_x.main.mix, 8 output channels
-#linux_pwm_out start -m etc/mixers/quad_x.main.mix
-linux_pwm_out start -m etc/mixers/AETRFG.main.mix
+linux_pwm_out start
+mixer load /dev/pwm_out etc/mixers/AETRFG.main.mix
 
 logger start -t -b 200
 

posix-configs/ocpoc/px4.config

@@ -45,6 +45,7 @@ mavlink stream -d /dev/ttyPS1 -s ATTITUDE -r 50
 
 rc_input start -d /dev/ttyS2
 
-linux_pwm_out start -m etc/mixers/quad_x.main.mix
+linux_pwm_out start
+mixer load /dev/pwm_out etc/mixers/quad_x.main.mix
 logger start -t -b 200
 mavlink boot_complete

posix-configs/rpi/px4.config

@@ -60,6 +60,7 @@ fi
 
 navio_sysfs_rc_in start
 linux_pwm_out start
+mixer load /dev/pwm_out etc/mixers/quad_x.main.mix
 
 logger start -t -b 200
 

posix-configs/rpi/px4_fw.config

@@ -57,7 +57,8 @@ then
 fi
 
 navio_sysfs_rc_in start
-linux_pwm_out start -m etc/mixers/AETRFG.main.mix
+linux_pwm_out start
+mixer load /dev/pwm_out etc/mixers/AETRFG.main.mix
 
 logger start -t -b 200
 

posix-configs/rpi/px4_test.config

@@ -59,6 +59,7 @@ fi
 
 navio_sysfs_rc_in start
 linux_pwm_out start
+mixer load /dev/pwm_out etc/mixers/quad_x.main.mix
 
 logger start -t -f -b 200
 

src/drivers/linux_pwm_out/linux_pwm_out.hpp

@@ -0,0 +1,98 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+
+#include <drivers/device/device.h>
+#include <drivers/drv_mixer.h>
+#include <lib/cdev/CDev.hpp>
+#include <lib/mathlib/mathlib.h>
+#include <lib/mixer_module/mixer_module.hpp>
+#include <lib/parameters/param.h>
+#include <lib/perf/perf_counter.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/module.h>
+#include <uORB/Publication.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/parameter_update.h>
+#include <px4_platform/pwm_out_base.h>
+
+using namespace time_literals;
+
+
+class LinuxPWMOut : public cdev::CDev, public ModuleBase<LinuxPWMOut>, public OutputModuleInterface
+{
+public:
+	LinuxPWMOut();
+	virtual ~LinuxPWMOut();
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	void Run() override;
+
+	/** @see ModuleBase::print_status() */
+	int print_status() override;
+
+	int	ioctl(device::file_t *filp, int cmd, unsigned long arg) override;
+
+	int	init() override;
+
+	bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
+			   unsigned num_outputs, unsigned num_control_groups_updated) override;
+
+private:
+	static constexpr int MAX_ACTUATORS = 8;
+
+	void		update_params();
+
+	MixingOutput _mixing_output{MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false};
+
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+
+	int		_class_instance{-1};
+
+	pwm_out::PWMOutBase *_pwm_out{nullptr};
+
+	perf_counter_t	_cycle_perf;
+	perf_counter_t	_interval_perf;
+};