linux_pwm_out: move protocols to board-specific directories

This also removes the pca9685 output, which was unused, and there's also
pca9685_pwm_out.

boards/aerotenna/ocpoc/src/CMakeLists.txt

@@ -32,6 +32,7 @@
 ############################################################################
 
 add_library(drivers_board
+	board_pwm_out.cpp
 	i2c.cpp
 	spi.cpp
 )

boards/aerotenna/ocpoc/src/board_pwm_out.cpp

@@ -0,0 +1,113 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2017 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 MODULE_NAME
+#define MODULE_NAME "ocpoc_pwm_out"
+#endif
+
+#include "board_pwm_out.h"
+
+#include <px4_platform_common/log.h>
+
+#include <fcntl.h>
+#include <sys/mman.h>
+#include <unistd.h>
+
+using namespace pwm_out;
+
+#define RCOUT_ZYNQ_PWM_BASE	    0x43c00000
+static const int TICK_PER_US   =  50;
+static const int FREQUENCY_PWM = 400;
+static const int TICK_PER_S  = 50000000;
+
+OcpocMmapPWMOut::OcpocMmapPWMOut(int max_num_outputs)
+{
+	_num_outputs = max_num_outputs;
+
+	if (_num_outputs > MAX_ZYNQ_PWMS) {
+		PX4_WARN("number of outputs too large. Setting to %i", MAX_ZYNQ_PWMS);
+		_num_outputs = MAX_ZYNQ_PWMS;
+	}
+}
+
+OcpocMmapPWMOut::~OcpocMmapPWMOut()
+{
+	if (_shared_mem_cmd) {
+		munmap((void *)_shared_mem_cmd, 0x1000);
+	}
+}
+
+unsigned long OcpocMmapPWMOut::freq2tick(uint16_t freq_hz)
+{
+	unsigned long duty = TICK_PER_S / (unsigned long)freq_hz;
+	return duty;
+}
+
+int OcpocMmapPWMOut::init()
+{
+	uint32_t mem_fd = open(_device, O_RDWR | O_SYNC);
+	_shared_mem_cmd = (struct pwm_cmd *) mmap(0, 0x1000, PROT_READ | PROT_WRITE,
+			  MAP_SHARED, mem_fd, RCOUT_ZYNQ_PWM_BASE);
+	close(mem_fd);
+
+	if (_shared_mem_cmd == nullptr) {
+		PX4_ERR("initialize pwm pointer failed.");
+		return -1;
+	}
+
+	for (int i = 0; i < _num_outputs; ++i) {
+		_shared_mem_cmd->periodhi[i].period   =  freq2tick(FREQUENCY_PWM);
+		_shared_mem_cmd->periodhi[i].hi = freq2tick(FREQUENCY_PWM) / 2;
+		PX4_DEBUG("Output values: %d, %d", _shared_mem_cmd->periodhi[i].period, _shared_mem_cmd->periodhi[i].hi);
+	}
+
+	return 0;
+}
+
+int OcpocMmapPWMOut::send_output_pwm(const uint16_t *pwm, int num_outputs)
+{
+	if (num_outputs > _num_outputs) {
+		num_outputs = _num_outputs;
+	}
+
+	//convert this to duty_cycle in ns
+	for (int i = 0; i < num_outputs; ++i) {
+		//n = ::asprintf(&data, "%u", pwm[i] * 1000);
+		//::write(_pwm_fd[i], data, n);
+		_shared_mem_cmd->periodhi[i].hi = TICK_PER_US * pwm[i];
+		//printf("ch:%d, val:%d*%d ", ch, period_us, TICK_PER_US);
+	}
+
+	return 0;
+}
+

boards/aerotenna/ocpoc/src/board_pwm_out.h

@@ -0,0 +1,77 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2017 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 <px4_platform/pwm_out_base.h>
+
+#define BOARD_PWM_OUT_IMPL OcpocMmapPWMOut
+
+namespace pwm_out
+{
+
+/**
+ ** class OcpocMmapPWMOut
+ * PWM output class for Aerotenna OcPoC via mmap
+ */
+class OcpocMmapPWMOut : public PWMOutBase
+{
+public:
+	OcpocMmapPWMOut(int max_num_outputs);
+	virtual ~OcpocMmapPWMOut();
+
+	int init() override;
+
+	int send_output_pwm(const uint16_t *pwm, int num_outputs) override;
+
+private:
+	static unsigned long freq2tick(uint16_t freq_hz);
+
+	static constexpr int MAX_ZYNQ_PWMS = 8;	/**< maximum number of pwm channels */
+
+	// Period|Hi 32 bits each
+	struct s_period_hi {
+		uint32_t period;
+		uint32_t hi;
+	};
+
+	struct pwm_cmd {
+		struct s_period_hi periodhi[MAX_ZYNQ_PWMS];
+	};
+
+	volatile struct pwm_cmd *_shared_mem_cmd = nullptr;
+	static constexpr const char *_device = "/dev/mem";
+	int _num_outputs;
+};
+
+}

boards/beaglebone/blue/src/CMakeLists.txt

@@ -32,6 +32,7 @@
 ############################################################################
 
 px4_add_library(drivers_board
+	board_pwm_out.cpp
 	i2c.cpp
 	init.cpp
 	spi.cpp

boards/beaglebone/blue/src/board_pwm_out.cpp

@@ -0,0 +1,84 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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 MODULE_NAME
+#define MODULE_NAME "bbblue_pwm_out"
+#endif
+
+#include <fcntl.h>
+#include <errno.h>
+#include <px4_platform_common/log.h>
+
+#include <robotcontrol.h>
+#include <board_config.h>
+
+#include "board_pwm_out.h"
+
+using namespace pwm_out;
+
+BBBlueRcPWMOut::BBBlueRcPWMOut(int max_num_outputs) : _num_outputs(max_num_outputs)
+{
+	if (_num_outputs > MAX_NUM_PWM) {
+		PX4_WARN("number of outputs too large. Setting to %i", MAX_NUM_PWM);
+		_num_outputs = MAX_NUM_PWM;
+	}
+}
+
+BBBlueRcPWMOut::~BBBlueRcPWMOut()
+{
+	rc_cleaning();
+}
+
+int BBBlueRcPWMOut::init()
+{
+	rc_init();
+
+	return 0;
+}
+
+int BBBlueRcPWMOut::send_output_pwm(const uint16_t *pwm, int num_outputs)
+{
+	if (num_outputs > _num_outputs) {
+		num_outputs = _num_outputs;
+	}
+
+	int ret = 0;
+
+	// pwm[ch] is duty_cycle in us
+	for (int ch = 0; ch < num_outputs; ++ch) {
+		ret += rc_servo_send_pulse_us(ch + 1, pwm[ch]); // converts to 1-based channel #
+	}
+
+	return ret;
+}
+

boards/beaglebone/blue/src/board_pwm_out.h

@@ -0,0 +1,67 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_platform/pwm_out_base.h>
+
+#define BOARD_PWM_OUT_IMPL BBBlueRcPWMOut
+
+namespace pwm_out
+{
+
+/**
+ ** class BBBlueRcPWMOut
+ * PWM output class for BeagleBone Blue with Robotics Cape Library
+ *
+ * Ref: https://github.com/StrawsonDesign/Robotics_Cape_Installer
+ *      http://www.strawsondesign.com/#!manual-servos
+ */
+class BBBlueRcPWMOut : public PWMOutBase
+{
+public:
+	BBBlueRcPWMOut(int max_num_outputs);
+	virtual ~BBBlueRcPWMOut();
+
+	int init() override;
+
+	int send_output_pwm(const uint16_t *pwm, int num_outputs) override;
+
+private:
+	static const int MAX_NUM_PWM = 8;
+	static const int MIN_FREQUENCY_PWM = 40;
+
+	int _num_outputs;
+};
+
+}

boards/emlid/navio2/src/CMakeLists.txt

@@ -32,6 +32,7 @@
 ############################################################################
 
 add_library(drivers_board
+	board_pwm_out.cpp
 	i2c.cpp
 	spi.cpp
 )

boards/emlid/navio2/src/board_pwm_out.cpp

@@ -0,0 +1,156 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2017 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 MODULE_NAME
+#define MODULE_NAME "navio_sysfs_pwm_out"
+#endif
+
+#include "board_pwm_out.h"
+
+#include <fcntl.h>
+#include <errno.h>
+#include <unistd.h>
+#include <px4_platform_common/log.h>
+
+using namespace pwm_out;
+
+const char NavioSysfsPWMOut::_device[] = "/sys/class/pwm/pwmchip0";
+
+NavioSysfsPWMOut::NavioSysfsPWMOut(int max_num_outputs)
+{
+	if (max_num_outputs > MAX_NUM_PWM) {
+		PX4_WARN("number of outputs too large. Setting to %i", MAX_NUM_PWM);
+		max_num_outputs = MAX_NUM_PWM;
+	}
+
+	for (int i = 0; i < MAX_NUM_PWM; ++i) {
+		_pwm_fd[i] = -1;
+	}
+
+	_pwm_num = max_num_outputs;
+}
+
+NavioSysfsPWMOut::~NavioSysfsPWMOut()
+{
+	for (int i = 0; i < MAX_NUM_PWM; ++i) {
+		if (_pwm_fd[i] != -1) {
+			::close(_pwm_fd[i]);
+		}
+	}
+}
+
+int NavioSysfsPWMOut::init()
+{
+	int i;
+	char path[128];
+
+	for (i = 0; i < _pwm_num; ++i) {
+		::snprintf(path, sizeof(path), "%s/export", _device);
+
+		if (pwm_write_sysfs(path, i) < 0) {
+			PX4_ERR("PWM export failed");
+		}
+	}
+
+	for (i = 0; i < _pwm_num; ++i) {
+		::snprintf(path, sizeof(path), "%s/pwm%u/enable", _device, i);
+
+		if (pwm_write_sysfs(path, 1) < 0) {
+			PX4_ERR("PWM enable failed");
+		}
+	}
+
+	for (i = 0; i < _pwm_num; ++i) {
+		::snprintf(path, sizeof(path), "%s/pwm%u/period", _device, i);
+
+		if (pwm_write_sysfs(path, (int)1e9 / FREQUENCY_PWM)) {
+			PX4_ERR("PWM period failed");
+		}
+	}
+
+	for (i = 0; i < _pwm_num; ++i) {
+		::snprintf(path, sizeof(path), "%s/pwm%u/duty_cycle", _device, i);
+		_pwm_fd[i] = ::open(path, O_WRONLY | O_CLOEXEC);
+
+		if (_pwm_fd[i] == -1) {
+			PX4_ERR("PWM: Failed to open duty_cycle.");
+			return -errno;
+		}
+	}
+
+	return 0;
+}
+
+int NavioSysfsPWMOut::send_output_pwm(const uint16_t *pwm, int num_outputs)
+{
+	char data[16];
+
+	if (num_outputs > _pwm_num) {
+		num_outputs = _pwm_num;
+	}
+
+	int ret = 0;
+
+	//convert this to duty_cycle in ns
+	for (int i = 0; i < num_outputs; ++i) {
+		int n = ::snprintf(data, sizeof(data), "%u", pwm[i] * 1000);
+		int write_ret = ::write(_pwm_fd[i], data, n);
+
+		if (n != write_ret) {
+			ret = -1;
+		}
+	}
+
+	return ret;
+}
+
+int NavioSysfsPWMOut::pwm_write_sysfs(char *path, int value)
+{
+	int fd = ::open(path, O_WRONLY | O_CLOEXEC);
+	int n;
+	char data[16];
+
+	if (fd == -1) {
+		return -errno;
+	}
+
+	n = ::snprintf(data, sizeof(data), "%u", value);
+
+	if (n > 0) {
+		n = ::write(fd, data, n);	// This n is not used, but to avoid a compiler error.
+	}
+
+	::close(fd);
+
+	return 0;
+}
+

boards/emlid/navio2/src/board_pwm_out.h

@@ -0,0 +1,69 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2017 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 <px4_platform/pwm_out_base.h>
+
+#define BOARD_PWM_OUT_IMPL NavioSysfsPWMOut
+
+namespace pwm_out
+{
+
+/**
+ ** class NavioSysfsPWMOut
+ * PWM output class for Navio Sysfs
+ */
+class NavioSysfsPWMOut : public PWMOutBase
+{
+public:
+	NavioSysfsPWMOut(int max_num_outputs);
+	virtual ~NavioSysfsPWMOut();
+
+	int init() override;
+
+	int send_output_pwm(const uint16_t *pwm, int num_outputs) override;
+
+private:
+	int pwm_write_sysfs(char *path, int value);
+
+	static const int MAX_NUM_PWM = 14;
+	static const int FREQUENCY_PWM = 400;
+
+	int _pwm_fd[MAX_NUM_PWM];
+	int _pwm_num;
+
+	static const char _device[];
+};
+
+}

boards/px4/raspberrypi/default.cmake

@@ -23,7 +23,6 @@ px4_add_board(
 		gps
 		#imu # all available imu drivers
 		imu/invensense/mpu9250
-		linux_pwm_out
 		#magnetometer # all available magnetometer drivers
 		magnetometer/hmc5883
 		pca9685_pwm_out