Revert "drivers/pwm_out: cleanup for multi-platform use" (#14812)

This reverts commit 0c8dcf94bc.

src/drivers/pwm_out/CMakeLists.txt

@@ -34,7 +34,6 @@ px4_add_module(
 	MODULE drivers__pwm_out
 	MAIN pwm_out
 	COMPILE_FLAGS
-		-Wno-error=unused-variable
 	SRCS
 		PWMOut.cpp
 		PWMOut.hpp

src/drivers/pwm_out/PWMOut.cpp

@@ -379,6 +379,11 @@ int PWMOut::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_
 	return OK;
 }
 
+int PWMOut::set_i2c_bus_clock(unsigned bus, unsigned clock_hz)
+{
+	return device::I2C::set_bus_clock(bus, clock_hz);
+}
+
 void PWMOut::update_current_rate()
 {
 	/*
@@ -500,7 +505,6 @@ int PWMOut::task_spawn(int argc, char *argv[])
 	return PX4_ERROR;
 }
 
-#if defined(BOARD_HAS_CAPTURE)
 void PWMOut::capture_trampoline(void *context, uint32_t chan_index,
 				hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow)
 {
@@ -511,10 +515,8 @@ void PWMOut::capture_trampoline(void *context, uint32_t chan_index,
 void PWMOut::capture_callback(uint32_t chan_index,
 			      hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow)
 {
-	fprintf(stdout, "PWMOut: Capture chan:%d time:%lld state:%d overflow:%d\n", chan_index, edge_time, edge_state,
+	fprintf(stdout, "FMU: Capture chan:%d time:%lld state:%d overflow:%d\n", chan_index, edge_time, edge_state, overflow);
-		overflow);
 }
-#endif // BOARD_HAS_CAPTURE
 
 void PWMOut::update_pwm_out_state(bool on)
 {
@@ -601,11 +603,10 @@ void PWMOut::update_params()
 	updateParams();
 }
 
-int PWMOut::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
+int PWMOut::ioctl(file *filp, int cmd, unsigned long arg)
 {
-	int ret = -ENOTTY;
+	int ret;
 
-#if defined(BOARD_HAS_CAPTURE)
 	/* try it as a Capture ioctl next */
 	ret = capture_ioctl(filp, cmd, arg);
 
@@ -613,8 +614,6 @@ int PWMOut::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 		return ret;
 	}
 
-#endif // BOARD_HAS_CAPTURE
-
 	/* if we are in valid PWM mode, try it as a PWM ioctl as well */
 	switch (_mode) {
 	case MODE_1PWM:
@@ -622,14 +621,11 @@ int PWMOut::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 	case MODE_3PWM:
 	case MODE_4PWM:
 	case MODE_5PWM:
-#if defined(BOARD_HAS_CAPTURE)
 	case MODE_2PWM2CAP:
 	case MODE_3PWM1CAP:
 	case MODE_4PWM1CAP:
 	case MODE_4PWM2CAP:
 	case MODE_5PWM1CAP:
-#endif // BOARD_HAS_CAPTURE
-
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
 	case MODE_6PWM:
 #endif
@@ -655,7 +651,7 @@ int PWMOut::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 	return ret;
 }
 
-int PWMOut::pwm_ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
+int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 {
 	int ret = OK;
 
@@ -931,8 +927,6 @@ int PWMOut::pwm_ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 	case PWM_SERVO_SET(11):
 	case PWM_SERVO_SET(10):
 	case PWM_SERVO_SET(9):
-
-	// FALLTHROUGH
 	case PWM_SERVO_SET(8):
 		if (_mode < MODE_14PWM) {
 			ret = -EINVAL;
@@ -942,10 +936,9 @@ int PWMOut::pwm_ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 #endif
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
 
-	// FALLTHROUGH
 	case PWM_SERVO_SET(7):
 
-	// FALLTHROUGH
+	/* FALLTHROUGH */
 	case PWM_SERVO_SET(6):
 		if (_mode < MODE_8PWM) {
 			ret = -EINVAL;
@@ -956,7 +949,7 @@ int PWMOut::pwm_ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
 
-	// FALLTHROUGH
+	/* FALLTHROUGH */
 	case PWM_SERVO_SET(5):
 		if (_mode < MODE_6PWM) {
 			ret = -EINVAL;
@@ -966,7 +959,7 @@ int PWMOut::pwm_ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 #endif
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 5
 
-	// FALLTHROUGH
+	/* FALLTHROUGH */
 	case PWM_SERVO_SET(4):
 		if (_mode < MODE_5PWM) {
 			ret = -EINVAL;
@@ -975,21 +968,21 @@ int PWMOut::pwm_ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 
 #endif
 
-	// FALLTHROUGH
+	/* FALLTHROUGH */
 	case PWM_SERVO_SET(3):
 		if (_mode < MODE_4PWM) {
 			ret = -EINVAL;
 			break;
 		}
 
-	// FALLTHROUGH
+	/* FALLTHROUGH */
 	case PWM_SERVO_SET(2):
 		if (_mode < MODE_3PWM) {
 			ret = -EINVAL;
 			break;
 		}
 
-	// FALLTHROUGH
+	/* FALLTHROUGH */
 	case PWM_SERVO_SET(1):
 	case PWM_SERVO_SET(0):
 		if (arg <= 2100) {
@@ -1015,10 +1008,9 @@ int PWMOut::pwm_ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 		}
 
 #endif
-
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
 
-	// FALLTHROUGH
+	/* FALLTHROUGH */
 	case PWM_SERVO_GET(7):
 	case PWM_SERVO_GET(6):
 		if (_mode < MODE_8PWM) {
@@ -1030,7 +1022,7 @@ int PWMOut::pwm_ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
 
-	// FALLTHROUGH
+	/* FALLTHROUGH */
 	case PWM_SERVO_GET(5):
 		if (_mode < MODE_6PWM) {
 			ret = -EINVAL;
@@ -1038,10 +1030,9 @@ int PWMOut::pwm_ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 		}
 
 #endif
-
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 5
 
-	// FALLTHROUGH
+	/* FALLTHROUGH */
 	case PWM_SERVO_GET(4):
 		if (_mode < MODE_5PWM) {
 			ret = -EINVAL;
@@ -1050,21 +1041,21 @@ int PWMOut::pwm_ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 
 #endif
 
-	// FALLTHROUGH
+	/* FALLTHROUGH */
 	case PWM_SERVO_GET(3):
 		if (_mode < MODE_4PWM) {
 			ret = -EINVAL;
 			break;
 		}
 
-	// FALLTHROUGH
+	/* FALLTHROUGH */
 	case PWM_SERVO_GET(2):
 		if (_mode < MODE_3PWM) {
 			ret = -EINVAL;
 			break;
 		}
 
-	// FALLTHROUGH
+	/* FALLTHROUGH */
 	case PWM_SERVO_GET(1):
 	case PWM_SERVO_GET(0):
 		*(servo_position_t *)arg = up_pwm_servo_get(cmd - PWM_SERVO_GET(0));
@@ -1309,10 +1300,29 @@ int PWMOut::pwm_ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 	return ret;
 }
 
-#if defined(BOARD_HAS_CAPTURE)
+void PWMOut::sensor_reset(int ms)
-int PWMOut::capture_ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
+{
+	if (ms < 1) {
+		ms = 1;
+	}
+
+	board_spi_reset(ms, 0xffff);
+}
+
+void PWMOut::peripheral_reset(int ms)
 {
-	int ret = -EINVAL;
+	if (ms < 1) {
+		ms = 10;
+	}
+
+	board_peripheral_reset(ms);
+}
+
+int PWMOut::capture_ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	int	ret = -EINVAL;
+
+#if defined(BOARD_HAS_CAPTURE)
 
 	lock();
 
@@ -1453,9 +1463,11 @@ int PWMOut::capture_ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 
 	unlock();
 
+#else
+	ret = -ENOTTY;
+#endif
 	return ret;
 }
-#endif // BOARD_HAS_CAPTURE
 
 int PWMOut::fmu_new_mode(PortMode new_mode)
 {
@@ -1463,7 +1475,9 @@ int PWMOut::fmu_new_mode(PortMode new_mode)
 		return -1;
 	}
 
-	PWMOut::Mode servo_mode = PWMOut::MODE_NONE;
+	PWMOut::Mode servo_mode;
+
+	servo_mode = PWMOut::MODE_NONE;
 
 	switch (new_mode) {
 	case PORT_FULL_GPIO:
@@ -1586,7 +1600,17 @@ int PWMOut::fmu_new_mode(PortMode new_mode)
 	return OK;
 }
 
-#if defined(BOARD_HAS_CAPTURE)
+
+namespace
+{
+
+int fmu_new_i2c_speed(unsigned bus, unsigned clock_hz)
+{
+	return PWMOut::set_i2c_bus_clock(bus, clock_hz);
+}
+
+} // namespace
+
 int PWMOut::test()
 {
 	int	 fd;
@@ -1777,22 +1801,18 @@ err_out_no_test:
 	::close(fd);
 	return rv;
 }
-#endif // BOARD_HAS_CAPTURE
 
 int PWMOut::custom_command(int argc, char *argv[])
 {
 	PortMode new_mode = PORT_MODE_UNSET;
 	const char *verb = argv[0];
 
-#if defined(__PX4_NUTTX)
+	/* does not operate on a FMU instance */
-
-	/* does not operate on a PWMOut instance */
 	if (!strcmp(verb, "i2c")) {
-		// TODO: remove sensor reset from drivers/pwm_out
 		if (argc > 2) {
 			int bus = strtol(argv[1], 0, 0);
 			int clock_hz = strtol(argv[2], 0, 0);
-			int ret = device::I2C::set_bus_clock(bus, clock_hz);
+			int ret = fmu_new_i2c_speed(bus, clock_hz);
 
 			if (ret) {
 				PX4_ERR("setting I2C clock failed");
@@ -1805,34 +1825,31 @@ int PWMOut::custom_command(int argc, char *argv[])
 	}
 
 	if (!strcmp(verb, "sensor_reset")) {
-		// TODO: remove sensor reset from drivers/pwm_out
 		if (argc > 1) {
 			int reset_time = strtol(argv[1], nullptr, 0);
-			board_spi_reset(math::max(reset_time, 1), 0xffff);
+			sensor_reset(reset_time);
 
 		} else {
+			sensor_reset(0);
 			PX4_INFO("reset default time");
-			// 1 millisecond
-			board_spi_reset(1, 0xffff);
 		}
+
+		return 0;
 	}
 
 	if (!strcmp(verb, "peripheral_reset")) {
-		// TODO: remove peripheral reset from drivers/pwm_out
 		if (argc > 2) {
 			int reset_time = strtol(argv[2], 0, 0);
-			// minimum 10 millisecond
+			peripheral_reset(reset_time);
-			board_peripheral_reset(math::max(10, reset_time));
 
 		} else {
+			peripheral_reset(0);
 			PX4_INFO("reset default time");
-			board_peripheral_reset(10);
 		}
 
 		return 0;
 	}
 
-#endif // __PX4_NUTTX
 
 	/* start the FMU if not running */
 	if (!is_running()) {
@@ -1920,14 +1937,10 @@ int PWMOut::custom_command(int argc, char *argv[])
 		return PWMOut::fmu_new_mode(new_mode);
 	}
 
-#if defined(BOARD_HAS_CAPTURE)
-
 	if (!strcmp(verb, "test")) {
 		return test();
 	}
 
-#endif // BOARD_HAS_CAPTURE
-
 	return print_usage("unknown command");
 }
 
@@ -1944,33 +1957,31 @@ int PWMOut::print_status()
 
 	case MODE_2PWM: mode_str = "pwm2"; break;
 
-	case MODE_3PWM: mode_str = "pwm3"; break;
-
-	case MODE_4PWM: mode_str = "pwm4"; break;
-
-	case MODE_5PWM: mode_str = "pwm5"; break;
-
-	case MODE_6PWM: mode_str = "pwm6"; break;
-
-	case MODE_8PWM: mode_str = "pwm8"; break;
-#if defined(BOARD_HAS_CAPTURE)
-
 	case MODE_2PWM2CAP: mode_str = "pwm2cap2"; break;
 
+	case MODE_3PWM: mode_str = "pwm3"; break;
+
 	case MODE_3PWM1CAP: mode_str = "pwm3cap1"; break;
 
+	case MODE_4PWM: mode_str = "pwm4"; break;
+
 	case MODE_4PWM1CAP: mode_str = "pwm4cap1"; break;
 
 	case MODE_4PWM2CAP: mode_str = "pwm4cap2"; break;
 
+	case MODE_5PWM: mode_str = "pwm5"; break;
+
 	case MODE_5PWM1CAP: mode_str = "pwm5cap1"; break;
 
+	case MODE_6PWM: mode_str = "pwm6"; break;
+
+	case MODE_8PWM: mode_str = "pwm8"; break;
+
 	case MODE_4CAP: mode_str = "cap4"; break;
 
 	case MODE_5CAP: mode_str = "cap5"; break;
 
 	case MODE_6CAP: mode_str = "cap6"; break;
-#endif // BOARD_HAS_CAPTURE
 
 	default:
 		break;
@@ -2031,27 +2042,24 @@ mixer files.
 	PRINT_MODULE_USAGE_COMMAND("mode_gpio");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("mode_pwm", "Select all available pins as PWM");
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
-	PRINT_MODULE_USAGE_COMMAND("mode_pwm8");
+  PRINT_MODULE_USAGE_COMMAND("mode_pwm8");
 #endif
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
-	PRINT_MODULE_USAGE_COMMAND("mode_pwm6");
+  PRINT_MODULE_USAGE_COMMAND("mode_pwm6");
-	PRINT_MODULE_USAGE_COMMAND("mode_pwm5");
+  PRINT_MODULE_USAGE_COMMAND("mode_pwm5");
+  PRINT_MODULE_USAGE_COMMAND("mode_pwm5cap1");
 	PRINT_MODULE_USAGE_COMMAND("mode_pwm4");
-	PRINT_MODULE_USAGE_COMMAND("mode_pwm3");
+  PRINT_MODULE_USAGE_COMMAND("mode_pwm4cap1");
+  PRINT_MODULE_USAGE_COMMAND("mode_pwm4cap2");
+  PRINT_MODULE_USAGE_COMMAND("mode_pwm3");
+  PRINT_MODULE_USAGE_COMMAND("mode_pwm3cap1");
 	PRINT_MODULE_USAGE_COMMAND("mode_pwm2");
-#if defined(BOARD_HAS_CAPTURE)
+  PRINT_MODULE_USAGE_COMMAND("mode_pwm2cap2");
-	PRINT_MODULE_USAGE_COMMAND("mode_pwm5cap1");
-	PRINT_MODULE_USAGE_COMMAND("mode_pwm4cap1");
-	PRINT_MODULE_USAGE_COMMAND("mode_pwm4cap2");
-	PRINT_MODULE_USAGE_COMMAND("mode_pwm3cap1");
-	PRINT_MODULE_USAGE_COMMAND("mode_pwm2cap2");
-#endif // BOARD_HAS_CAPTURE
 #endif
 #if defined(BOARD_HAS_PWM)
-	PRINT_MODULE_USAGE_COMMAND("mode_pwm1");
+  PRINT_MODULE_USAGE_COMMAND("mode_pwm1");
 #endif
 
-#if defined(__PX4_NUTTX)
 	PRINT_MODULE_USAGE_COMMAND_DESCR("sensor_reset", "Do a sensor reset (SPI bus)");
 	PRINT_MODULE_USAGE_ARG("<ms>", "Delay time in ms between reset and re-enabling", true);
 	PRINT_MODULE_USAGE_COMMAND_DESCR("peripheral_reset", "Reset board peripherals");
@@ -2059,7 +2067,6 @@ mixer files.
 
 	PRINT_MODULE_USAGE_COMMAND_DESCR("i2c", "Configure I2C clock rate");
 	PRINT_MODULE_USAGE_ARG("<bus_id> <rate>", "Specify the bus id (>=0) and rate in Hz", false);
-#endif // __PX4_NUTTX
 
 	PRINT_MODULE_USAGE_COMMAND_DESCR("test", "Test inputs and outputs");
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();

src/drivers/pwm_out/PWMOut.hpp

@@ -36,12 +36,11 @@
 #include <float.h>
 #include <math.h>
 
-#include <px4_platform_common/px4_config.h>
+#include <board_config.h>
-#include <px4_platform_common/getopt.h>
+#include <drivers/device/device.h>
-#include <px4_platform_common/log.h>
+#include <drivers/device/i2c.h>
-#include <px4_platform_common/module.h>
-
 #include <drivers/drv_hrt.h>
+#include <drivers/drv_input_capture.h>
 #include <drivers/drv_mixer.h>
 #include <drivers/drv_pwm_output.h>
 #include <lib/cdev/CDev.hpp>
@@ -49,6 +48,10 @@
 #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/getopt.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>
@@ -59,14 +62,6 @@
 #include <uORB/topics/multirotor_motor_limits.h>
 #include <uORB/topics/parameter_update.h>
 
-#if defined(__PX4_NUTTX)
-#include <drivers/device/i2c.h>
-#endif // __PX4_NUTTX
-
-#if defined(BOARD_HAS_CAPTURE)
-#include <drivers/drv_input_capture.h>
-#endif // BOARD_HAS_CAPTURE
-
 using namespace time_literals;
 
 /** Mode given via CLI */
@@ -81,14 +76,12 @@ enum PortMode {
 	PORT_PWM3,
 	PORT_PWM2,
 	PORT_PWM1,
-#if defined(BOARD_HAS_CAPTURE)
 	PORT_PWM3CAP1,
 	PORT_PWM4CAP1,
 	PORT_PWM4CAP2,
 	PORT_PWM5CAP1,
 	PORT_PWM2CAP2,
 	PORT_CAPTURE,
-#endif // BOARD_HAS_CAPTURE
 };
 
 #if !defined(BOARD_HAS_PWM)
@@ -140,20 +133,20 @@ public:
 	/** change the FMU mode of the running module */
 	static int fmu_new_mode(PortMode new_mode);
 
-	virtual int	ioctl(cdev::file_t *filp, int cmd, unsigned long arg);
+	static int test();
+
+	virtual int	ioctl(file *filp, int cmd, unsigned long arg);
 
 	virtual int	init();
 
 	int		set_mode(Mode mode);
 	Mode		get_mode() { return _mode; }
 
-#if defined(BOARD_HAS_CAPTURE)
+	static int	set_i2c_bus_clock(unsigned bus, unsigned clock_hz);
-	static int test();
 
 	static void	capture_trampoline(void *context, uint32_t chan_index,
 					   hrt_abstime edge_time, uint32_t edge_state,
 					   uint32_t overflow);
-#endif // BOARD_HAS_CAPTURE
 
 	void update_pwm_trims();
 
@@ -176,6 +169,7 @@ private:
 
 	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
 
+
 	unsigned	_num_outputs{0};
 	int		_class_instance{-1};
 
@@ -188,18 +182,20 @@ private:
 
 	perf_counter_t	_cycle_perf;
 
+	void		capture_callback(uint32_t chan_index,
+					 hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);
 	void		update_current_rate();
-	int		set_pwm_rate(unsigned rate_map, unsigned default_rate, unsigned alt_rate);
+	int			set_pwm_rate(unsigned rate_map, unsigned default_rate, unsigned alt_rate);
-	int		pwm_ioctl(cdev::file_t *filp, int cmd, unsigned long arg);
+	int			pwm_ioctl(file *filp, int cmd, unsigned long arg);
 	void		update_pwm_rev_mask();
 	void		update_pwm_out_state(bool on);
 
 	void		update_params();
 
-#if defined(BOARD_HAS_CAPTURE)
+	static void		sensor_reset(int ms);
-	void		capture_callback(uint32_t chan_index, hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);
+	static void		peripheral_reset(int ms);
+
 	int		capture_ioctl(file *filp, int cmd, unsigned long arg);
-#endif // BOARD_HAS_CAPTURE
 
 	PWMOut(const PWMOut &) = delete;
 	PWMOut operator=(const PWMOut &) = delete;

src/lib/cdev/CDev.hpp

@@ -311,11 +311,4 @@ private:
 
 } // namespace cdev
 
-// class instance for primary driver of each class
-enum CLASS_DEVICE {
-	CLASS_DEVICE_PRIMARY = 0,
-	CLASS_DEVICE_SECONDARY = 1,
-	CLASS_DEVICE_TERTIARY = 2
-};
-
 #endif /* _CDEV_HPP */

src/lib/drivers/device/CDev.hpp

@@ -90,4 +90,11 @@ public:
 
 } // namespace device
 
+// class instance for primary driver of each class
+enum CLASS_DEVICE {
+	CLASS_DEVICE_PRIMARY = 0,
+	CLASS_DEVICE_SECONDARY = 1,
+	CLASS_DEVICE_TERTIARY = 2
+};
+
 #endif /* _DEVICE_CDEV_HPP */