ucan pwm enablement.

ROMFS/cannode/CMakeLists.txt

@@ -32,3 +32,4 @@
 ############################################################################
 
 add_subdirectory(init.d)
+add_subdirectory(mixers)

ROMFS/cannode/init.d/CMakeLists.txt

@@ -33,4 +33,5 @@
 
 px4_add_romfs_files(
 	rcS
+	rc.output_defaults
 )

ROMFS/cannode/init.d/rc.output_defaults

@@ -0,0 +1,32 @@
+#!/bin/sh
+#
+# UGV default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+#
+# Enable servo output on pins 3 and 4 (steering and thrust)
+# but also include 1+2 as they form together one output group
+# and need to be set together.
+#
+set PWM_OUT 12
+
+#
+# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
+# may damage analog servos.
+#
+set PWM_MAIN_RATE 50
+
+#
+# This is the gimbal pass mixer.
+#
+set MIXER_AUX pass
+set PWM_AUX_OUT 12
+
+param set-default PWM_MAIN_DISARM 1500
+param set-default PWM_MAIN_MAX 2000
+param set-default PWM_MAIN_MIN 1000
+
+# Set mixer
+set MIXER IO_pass_ucan

ROMFS/cannode/init.d/rcS

@@ -65,8 +65,8 @@ unset BOARD_RC_DEFAULTS
 #
 # Start system state indicator.
 #
-rgbled start -X -q
-rgbled_ncp5623c start -X -q
+#rgbled start -X -q
+#rgbled_ncp5623c start -X -q
 
 #
 # board sensors: rc.sensors
@@ -86,10 +86,10 @@ unset BOARD_RC_SENSORS
 . ${R}etc/init.d/rc.serial
 
 # Check for flow sensor
-if param compare SENS_EN_PX4FLOW 1
-then
-	px4flow start -X &
-fi
+#if param compare SENS_EN_PX4FLOW 1
+#then
+#	px4flow start -X &
+#fi
 
-uavcannode start
+#uavcannode start
 unset R

ROMFS/cannode/mixers/CMakeLists.txt

@@ -0,0 +1,36 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+px4_add_romfs_files(
+	IO_pass_ucan.main.mix
+)

ROMFS/cannode/mixers/IO_pass_ucan.main.mix

@@ -0,0 +1,12 @@
+Passthrough mixer for PX4IO
+============================
+
+This file defines passthrough mixers suitable for testing.
+
+Channel group 0, channels 0-7 are passed directly through to the outputs.
+
+M: 1
+S: 0 0  10000  10000      0 -10000  10000
+
+M: 1
+S: 0 1  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -55,4 +55,5 @@ px4_add_romfs_files(
 	rc.vehicle_setup
 	rc.vtol_apps
 	rc.vtol_defaults
+	rc.output_defaults
 )

ROMFS/px4fmu_common/init.d/airframes/22222_generic_output

@@ -0,0 +1,21 @@
+#!/bin/sh
+#
+# @name Generic Output
+#
+# @maintainer
+#
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.output_defaults
+
+
+# Provide ESC a constant 1500 us pulse
+param set-default PWM_MAIN_DISARM 1500
+param set-default PWM_MAIN_MAX 2000
+param set-default PWM_MAIN_MIN 1000
+
+# Set mixer
+set MIXER IO_pass
+
+set PWM_OUT 12

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -147,7 +147,7 @@ px4_add_romfs_files(
 	18001_TF-B1
 
 	# [22000, 22999] Reserve for custom models
-
+	22222_generic_output
 	24001_dodeca_cox
 
 	50000_generic_ground_vehicle

ROMFS/px4fmu_common/init.d/rc.output_defaults

@@ -0,0 +1,25 @@
+#!/bin/sh
+#
+# UGV default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+#
+# Enable servo output on pins 3 and 4 (steering and thrust)
+# but also include 1+2 as they form together one output group
+# and need to be set together.
+#
+set PWM_OUT 12
+
+#
+# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
+# may damage analog servos.
+#
+set PWM_MAIN_RATE 50
+
+#
+# This is the gimbal pass mixer.
+#
+set MIXER_AUX pass
+set PWM_AUX_OUT 12

boards/nxp/ucans32k146/default.px4board

@@ -25,3 +25,4 @@ CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y

boards/nxp/ucans32k146/init/rc.board_defaults

@@ -3,7 +3,12 @@
 # board specific defaults
 #------------------------------------------------------------------------------
 
-pwm_out mode_pwm1 start
+# pre-arm stuff
+param set-default SYS_CTRL_ALLOC 1
+
+pwm_out start
+
+control_allocator start
 
 ifup can0
 cyphal start

boards/nxp/ucans32k146/nxp_demo.px4board

@@ -4,3 +4,6 @@ CONFIG_DRIVERS_UAVCANNODE_GPS_DEMO=n
 CONFIG_MODULES_LIGHTING_STATE_CONVERTER=y
 CONFIG_CYPHAL_NODE_CLIENT=y
 CONFIG_CYPHAL_UORB_LIGHTING_STATES_SUBSCRIBER=y
+CONFIG_DRIVERS_GPS=n
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_MOTOR_TEST=y