output drivers: add option to generate a separate output range reversing param

Makes it a bit easier to configure. Reversing by setting MIN > MAX is still
supported.

Tools/module_config/generate_actuators_metadata.py

@@ -130,7 +130,8 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
         return None
 
 
-    output_groups = yaml_config['actuator_output']['output_groups']
+    actuator_output_yaml = yaml_config['actuator_output']
+    output_groups = actuator_output_yaml['output_groups']
     module_name = process_module_name(yaml_config['module_name'])
     group_idx = 0
 
@@ -139,8 +140,9 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
     actuator_output = {
             'label': module_name
         }
-    if 'show_subgroups_if' in yaml_config['actuator_output']:
+    if 'show_subgroups_if' in actuator_output_yaml:
-        actuator_output['show-subgroups-if'] = yaml_config['actuator_output']['show_subgroups_if']
+        actuator_output['show-subgroups-if'] = actuator_output_yaml['show_subgroups_if']
+    add_reverse_range_param = actuator_output_yaml.get('add_reverse_range_param', False)
 
     # config parameters
     def get_config_params(param_list):
@@ -159,7 +161,7 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
             parameters.append(param)
         return parameters
 
-    parameters = get_config_params(yaml_config['actuator_output'].get('config_parameters', []))
+    parameters = get_config_params(actuator_output_yaml.get('config_parameters', []))
     if len(parameters) > 0:
         actuator_output['parameters'] = parameters
 
@@ -254,6 +256,16 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
                 if show_if: param['show-if'] = show_if
                 per_channel_params.append(param)
 
+
+        if add_reverse_range_param:
+            param = {
+                    'label': 'Rev Range\n(for Servos)',
+                    'name': param_prefix+'_REV',
+                    'index-offset': -1,
+                    'show-as': 'bitset',
+                }
+            per_channel_params.append(param)
+
         # TODO: support non-standard per-channel parameters
 
         subgroup['per-channel-parameters'] = per_channel_params

Tools/module_config/generate_params.py

@@ -178,6 +178,9 @@ def get_actuator_output_params(yaml_config, output_functions,
     all_params = {}
     group_idx = 0
 
+    add_reverse_range_param = yaml_config['actuator_output'].get('add_reverse_range_param', False)
+    all_param_prefixes = {}
+
     def add_local_param(param_name, param_def):
         nonlocal all_params
         # add as a list, as there can be multiple entries with the same param_name
@@ -259,6 +262,11 @@ def get_actuator_output_params(yaml_config, output_functions,
                     for i in range(count):
                         output_function_values[start+i] = function_name_label+' '+str(i+1)
 
+        if param_prefix not in all_param_prefixes:
+            all_param_prefixes[param_prefix] = []
+        all_param_prefixes[param_prefix].append((instance_start,
+            instance_start_label, num_channels, channel_label))
+
         # function param
         param = {
             'description': {
@@ -338,6 +346,30 @@ When set to -1 (default), the value depends on the function (see {:}).
                     }
                 add_local_param(param_prefix+'_'+param_suffix+'${i}', param)
 
+    if add_reverse_range_param:
+        for param_prefix in all_param_prefixes:
+            groups = all_param_prefixes[param_prefix]
+            # collect the bits
+            channel_bits = {}
+            for instance_start, instance_start_label, num_instances, label in groups:
+                for instance in range(instance_start, instance_start+num_instances):
+                    instance_label = instance - instance_start + instance_start_label
+                    channel_bits[instance-1] = label + ' ' + str(instance_label)
+
+            param = {
+                'description': {
+                    'short': 'Reverse Output Range for '+module_name,
+                    'long':
+'''Allows to reverse the output range for each channel.
+Note: this is only useful for servos.
+'''.format(channel_label),
+                    },
+                'type': 'bitmask',
+                'default': 0,
+                'bit': channel_bits
+                }
+            add_local_param(param_prefix+'_REV', param)
+
     if verbose: print('adding actuator params: {:}'.format(all_params))
     return all_params
 

src/drivers/linux_pwm_out/module.yaml

@@ -1,5 +1,6 @@
 module_name: PWM Output
 actuator_output:
+  add_reverse_range_param: true
   output_groups:
     - param_prefix: PWM_MAIN
       channel_label: 'Channel'

src/drivers/pwm_out/module.yaml

@@ -1,5 +1,6 @@
 module_name: '${PWM_MAIN_OR_AUX}'
 actuator_output:
+  add_reverse_range_param: true
   output_groups:
     - generator: pwm
       param_prefix: '${PWM_MAIN_OR_AUX}'

src/drivers/pwm_out_sim/module_hil.yaml

@@ -1,6 +1,7 @@
 
 module_name: HIL
 actuator_output:
+  add_reverse_range_param: true
   show_subgroups_if: 'SYS_HITL>0'
   output_groups:
     - param_prefix: HIL_ACT

src/drivers/pwm_out_sim/module_sim.yaml

@@ -1,6 +1,7 @@
 
 module_name: SIM
 actuator_output:
+  add_reverse_range_param: true
   output_groups:
     - param_prefix: PWM_MAIN
       channel_label: Channel

src/drivers/px4io/module.yaml

@@ -1,5 +1,6 @@
 module_name: PWM MAIN
 actuator_output:
+  add_reverse_range_param: true
   output_groups:
     - generator: pwm
       param_prefix: PWM_MAIN

src/drivers/uavcan/module.yaml

@@ -1,5 +1,6 @@
 module_name: UAVCAN
 actuator_output:
+  add_reverse_range_param: true
   show_subgroups_if: 'UAVCAN_ENABLE>=3'
   config_parameters:
     - param: 'UAVCAN_ENABLE'

src/drivers/uavcan_v1/module.yaml

@@ -1,5 +1,6 @@
 module_name: UAVCANv1
 actuator_output:
+  add_reverse_range_param: true
   output_groups:
     - param_prefix: UCAN1_ESC
       channel_label: 'ESC'

src/lib/mixer_module/mixer_module.cpp

@@ -138,6 +138,9 @@ void MixingOutput::initParamHandles()
 		snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "FAIL", i + 1);
 		_param_handles[i].failsafe = param_find(param_name);
 	}
+
+	snprintf(param_name, sizeof(param_name), "%s_%s", _param_prefix, "REV");
+	_param_handle_rev_range = param_find(param_name);
 }
 
 void MixingOutput::printStatus() const
@@ -230,6 +233,12 @@ void MixingOutput::updateParams()
 			}
 		}
 
+		int32_t rev_range_param;
+
+		if (_param_handle_rev_range != PARAM_INVALID && param_get(_param_handle_rev_range, &rev_range_param) == 0) {
+			_reverse_output_mask |= rev_range_param;
+		}
+
 		if (function_changed) {
 			_need_function_update = true;
 		}

src/lib/mixer_module/mixer_module.hpp

@@ -346,6 +346,7 @@ private:
 	bool _has_backup_schedule{false};
 	const char *const _param_prefix;
 	ParamHandles _param_handles[MAX_ACTUATORS];
+	param_t _param_handle_rev_range{PARAM_INVALID};
 	hrt_abstime _lowrate_schedule_interval{300_ms};
 	ActuatorTest _actuator_test{_function_assignment};
 	uint32_t _reversible_mask{0}; ///< per-output bits. If set, the output is configured to be reversible (motors only)

validation/module_schema.yaml

@@ -251,6 +251,9 @@ actuator_output:
                   function:
                       type: string
                       allowed: [ enable ]
+        add_reverse_range_param:
+            # Add a separate range reversing bitmask param.
+            type: boolean
         output_groups:
             type: list
             minlength: 1