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bkuengdagar
bkueng
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dagar
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params: use PWM_MAIN_* instead of PWM_FMU_*
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15 files changed

+58
-149
lines changed

15 files changed

+58
-149
lines changed

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

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -46,10 +46,10 @@ param set-default CA_MC_R3_PY 0.1875
4646
param set-default CA_MC_R3_CT 6.5
4747
param set-default CA_MC_R3_KM -0.05
4848

49-
param set-default PWM_FMU_FUNC1 101
50-
param set-default PWM_FMU_FUNC2 102
51-
param set-default PWM_FMU_FUNC3 103
52-
param set-default PWM_FMU_FUNC4 104
49+
param set-default PWM_MAIN_FUNC1 101
50+
param set-default PWM_MAIN_FUNC2 102
51+
param set-default PWM_MAIN_FUNC3 103
52+
param set-default PWM_MAIN_FUNC4 104
5353

5454
set MIXER skip
5555
set MIXER_AUX none

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

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -76,12 +76,12 @@ param set-default CA_MC_R5_PY -0.5
7676
param set-default CA_MC_R5_CT 9.5
7777
param set-default CA_MC_R5_KM -0.05
7878

79-
param set-default PWM_FMU_FUNC1 101
80-
param set-default PWM_FMU_FUNC2 102
81-
param set-default PWM_FMU_FUNC3 103
82-
param set-default PWM_FMU_FUNC4 104
83-
param set-default PWM_FMU_FUNC5 105
84-
param set-default PWM_FMU_FUNC6 106
79+
param set-default PWM_MAIN_FUNC1 101
80+
param set-default PWM_MAIN_FUNC2 102
81+
param set-default PWM_MAIN_FUNC3 103
82+
param set-default PWM_MAIN_FUNC4 104
83+
param set-default PWM_MAIN_FUNC5 105
84+
param set-default PWM_MAIN_FUNC6 106
8585

8686
set MAV_TYPE 13
8787

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

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -52,8 +52,8 @@ param set-default CA_MC_R3_PY 0.177
5252
param set-default CA_MC_R3_CT 6.5
5353
param set-default CA_MC_R3_KM -0.05
5454

55-
param set-default PWM_FMU_FUNC1 101
56-
param set-default PWM_FMU_FUNC2 102
57-
param set-default PWM_FMU_FUNC3 103
58-
param set-default PWM_FMU_FUNC4 104
55+
param set-default PWM_MAIN_FUNC1 101
56+
param set-default PWM_MAIN_FUNC2 102
57+
param set-default PWM_MAIN_FUNC3 103
58+
param set-default PWM_MAIN_FUNC4 104
5959

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

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -66,12 +66,12 @@ param set-default CA_MC_R5_PY -0.1375
6666
param set-default CA_MC_R5_CT 6.5
6767
param set-default CA_MC_R5_KM -0.05
6868

69-
param set-default PWM_FMU_FUNC1 101
70-
param set-default PWM_FMU_FUNC2 102
71-
param set-default PWM_FMU_FUNC3 103
72-
param set-default PWM_FMU_FUNC4 104
73-
param set-default PWM_FMU_FUNC5 105
74-
param set-default PWM_FMU_FUNC6 106
69+
param set-default PWM_MAIN_FUNC1 101
70+
param set-default PWM_MAIN_FUNC2 102
71+
param set-default PWM_MAIN_FUNC3 103
72+
param set-default PWM_MAIN_FUNC4 104
73+
param set-default PWM_MAIN_FUNC5 105
74+
param set-default PWM_MAIN_FUNC6 106
7575

7676
set MIXER skip
7777
set MIXER_AUX none

‎Tools/module_config/generate_params.py‎

Lines changed: 14 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -31,6 +31,9 @@
3131
help='Ethernet support')
3232
parser.add_argument('--board', type=str, action='store',
3333
help='board name, e.g. ')
34+
parser.add_argument('--board-with-io', dest='board_with_io', action='store_true',
35+
help='Indicate that the board as an IO for extra PWM',
36+
default=False)
3437
parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
3538
help='Verbose Output')
3639

@@ -40,23 +43,30 @@
4043
params_output_file = args.params_file
4144
timer_config_file = args.timer_config
4245
ethernet_supported = args.ethernet
46+
board_with_io = args.board_with_io
4347
board = args.board
4448

4549
root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../..")
4650
output_functions_file = os.path.join(root_dir,"src/lib/mixer_module/output_functions.yaml")
4751

4852
def process_param_prefix(param_prefix):
49-
if param_prefix == '${PWM_FMU_OR_HIL}':
50-
if board == 'px4_sitl': return 'PWM_FMU'
53+
if param_prefix == '${PWM_MAIN_OR_HIL}':
54+
if board == 'px4_sitl': return 'PWM_MAIN'
5155
return 'HIL_ACT'
56+
if param_prefix == '${PWM_MAIN_OR_AUX}':
57+
if board_with_io: return 'PWM_AUX'
58+
return 'PWM_MAIN'
5259
if '${' in param_prefix:
5360
raise Exception('unhandled variable in {:}'.format(param_prefix))
5461
return param_prefix
5562

5663
def process_channel_label(channel_label):
57-
if channel_label == '${PWM_FMU_OR_HIL}':
64+
if channel_label == '${PWM_MAIN_OR_HIL}':
5865
if board == 'px4_sitl': return 'PWM Sim'
5966
return 'HIL actuator'
67+
if channel_label == '${PWM_MAIN_OR_AUX}':
68+
if board_with_io: return 'PWM Aux'
69+
return 'PWM Main'
6070
if '${' in channel_label:
6171
raise Exception('unhandled variable in {:}'.format(channel_label))
6272
return channel_label
@@ -171,9 +181,8 @@ def add_local_param(param_name, param_def):
171181
# We do this by extending the output_groups list and parse in a later iteration
172182
if 'generator' in group:
173183
if group['generator'] == 'pwm':
174-
# We might set these depending on presence of IO in build...
175184
param_prefix = process_param_prefix(group['param_prefix'])
176-
channel_labels = group['channel_labels']
185+
channel_labels = [process_channel_label(label) for label in group['channel_labels']]
177186
standard_params = group.get('standard_params', [])
178187
extra_function_groups = group.get('extra_function_groups', [])
179188
pwm_timer_param = group.get('pwm_timer_param', None)

‎cmake/kconfig.cmake‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -256,6 +256,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
256256
# IO board (placed in ROMFS)
257257
if(IO)
258258
set(config_io_board ${IO} CACHE INTERNAL "IO" FORCE)
259+
add_definitions(-DBOARD_WITH_IO)
259260
endif()
260261

261262
if(UAVCAN_PERIPHERALS)

‎src/drivers/dshot/DShot.h‎

Lines changed: 6 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -140,7 +140,12 @@ class DShot : public cdev::CDev, public ModuleBase<DShot>, public OutputModuleIn
140140

141141
void update_telemetry_num_motors();
142142

143-
MixingOutput _mixing_output{"PWM_FMU", DIRECT_PWM_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
143+
#ifdef BOARD_WITH_IO
144+
# define PARAM_PREFIX "PWM_AUX"
145+
#else
146+
# define PARAM_PREFIX "PWM_MAIN"
147+
#endif
148+
MixingOutput _mixing_output {PARAM_PREFIX, DIRECT_PWM_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
144149

145150
Telemetry *_telemetry{nullptr};
146151

‎src/drivers/pwm_out/PWMOut.hpp‎

Lines changed: 6 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -130,7 +130,12 @@ class PWMOut : public cdev::CDev, public OutputModuleInterface
130130

131131
static const int MAX_PER_INSTANCE{8};
132132

133-
MixingOutput _mixing_output{"PWM_FMU", FMU_MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, true};
133+
#ifdef BOARD_WITH_IO
134+
# define PARAM_PREFIX "PWM_AUX"
135+
#else
136+
# define PARAM_PREFIX "PWM_MAIN"
137+
#endif
138+
MixingOutput _mixing_output {PARAM_PREFIX, FMU_MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, true};
134139

135140
uint32_t _backup_schedule_interval_us{1_s};
136141

‎src/drivers/pwm_out/module.yaml‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -2,8 +2,8 @@ module_name: PWM Output
22
actuator_output:
33
output_groups:
44
- generator: pwm
5-
param_prefix: PWM_FMU
6-
channel_labels: ['PWM Main', 'PWM Capture']
5+
param_prefix: '${PWM_MAIN_OR_AUX}'
6+
channel_labels: ['${PWM_MAIN_OR_AUX}', 'PWM Capture']
77
standard_params:
88
disarmed: { min: 800, max: 2200, default: 900 }
99
min: { min: 800, max: 1400, default: 1000 }

‎src/drivers/pwm_out_sim/PWMSim.hpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -45,7 +45,7 @@
4545
#include <uORB/topics/parameter_update.h>
4646

4747
#if defined(CONFIG_ARCH_BOARD_PX4_SITL)
48-
#define PARAM_PREFIX "PWM_FMU"
48+
#define PARAM_PREFIX "PWM_MAIN"
4949
#else
5050
#define PARAM_PREFIX "HIL_ACT"
5151
#endif

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