fix pwm: only update oneshot timers owned by the current pwm_out instance

This fixes the case where oneshot was enabled with multi-instance pwm_out,
triggering oneshot updates too close to each other and as a result could
lead to spinning motors while disarmed.

platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/io_timer.h

@@ -142,7 +142,7 @@ __EXPORT int io_timer_allocate_channel(unsigned channel, io_timer_channel_mode_t
 __EXPORT int io_timer_unallocate_channel(unsigned channel);
 __EXPORT int io_timer_get_channel_mode(unsigned channel);
 __EXPORT int io_timer_get_mode_channels(io_timer_channel_mode_t mode);
-__EXPORT extern void io_timer_trigger(void);
+__EXPORT extern void io_timer_trigger(unsigned channel_mask);
 
 /**
  * Reserve a timer

platforms/nuttx/src/px4/nxp/imxrt/io_pins/io_timer.c

@@ -429,9 +429,9 @@ static inline void io_timer_set_PWM_mode(unsigned channel)
 	px4_leave_critical_section(flags);
 }
 
-void io_timer_trigger(void)
+void io_timer_trigger(unsigned channel_mask)
 {
-	int oneshots = io_timer_get_mode_channels(IOTimerChanMode_OneShot);
+	int oneshots = io_timer_get_mode_channels(IOTimerChanMode_OneShot) & channel_mask;
 	struct {
 		uint32_t base;
 		uint16_t triggers;

platforms/nuttx/src/px4/nxp/imxrt/io_pins/pwm_servo.c

@@ -144,9 +144,9 @@ int up_pwm_servo_set_rate_group_update(unsigned channel, unsigned rate)
 	return io_timer_set_pwm_rate(channel, rate);
 }
 
-void up_pwm_update(void)
+void up_pwm_update(unsigned channel_mask)
 {
-	io_timer_trigger();
+	io_timer_trigger(channel_mask);
 }
 
 uint32_t up_pwm_servo_get_rate_group(unsigned group)

platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/io_timer.h

@@ -138,7 +138,7 @@ __EXPORT int io_timer_allocate_channel(unsigned channel, io_timer_channel_mode_t
 __EXPORT int io_timer_unallocate_channel(unsigned channel);
 __EXPORT int io_timer_get_channel_mode(unsigned channel);
 __EXPORT int io_timer_get_mode_channels(io_timer_channel_mode_t mode);
-__EXPORT extern void io_timer_trigger(void);
+__EXPORT extern void io_timer_trigger(unsigned channel_mask);
 
 /**
  * Reserve a timer

platforms/nuttx/src/px4/nxp/kinetis/io_pins/io_timer.c

@@ -518,9 +518,9 @@ static inline void io_timer_set_PWM_mode(unsigned timer)
 	px4_leave_critical_section(flags);
 }
 
-void io_timer_trigger(void)
+void io_timer_trigger(unsigned channel_mask)
 {
-	int oneshots = io_timer_get_mode_channels(IOTimerChanMode_OneShot);
+	int oneshots = io_timer_get_mode_channels(IOTimerChanMode_OneShot) & channel_mask;
 	uint32_t action_cache[MAX_IO_TIMERS] = {0};
 	int actions = 0;
 

platforms/nuttx/src/px4/nxp/kinetis/io_pins/pwm_servo.c

@@ -143,9 +143,9 @@ int up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate)
 	return io_timer_set_pwm_rate(group, rate);
 }
 
-void up_pwm_update(void)
+void up_pwm_update(unsigned channel_mask)
 {
-	io_timer_trigger();
+	io_timer_trigger(channel_mask);
 }
 
 uint32_t up_pwm_servo_get_rate_group(unsigned group)

platforms/nuttx/src/px4/nxp/s32k1xx/include/px4_arch/io_timer.h

@@ -131,7 +131,7 @@ __EXPORT int io_timer_allocate_channel(unsigned channel, io_timer_channel_mode_t
 __EXPORT int io_timer_unallocate_channel(unsigned channel);
 __EXPORT int io_timer_get_channel_mode(unsigned channel);
 __EXPORT int io_timer_get_mode_channels(io_timer_channel_mode_t mode);
-__EXPORT extern void io_timer_trigger(void);
+__EXPORT extern void io_timer_trigger(unsigned channel_mask);
 
 /**
  * Reserve a timer

platforms/nuttx/src/px4/nxp/s32k1xx/io_pins/io_timer.c

@@ -514,9 +514,9 @@ static inline void io_timer_set_PWM_mode(unsigned timer)
 	px4_leave_critical_section(flags);
 }
 
-void io_timer_trigger(void)
+void io_timer_trigger(unsigned channel_mask)
 {
-	int oneshots = io_timer_get_mode_channels(IOTimerChanMode_OneShot);
+	int oneshots = io_timer_get_mode_channels(IOTimerChanMode_OneShot) & channel_mask;
 	uint32_t action_cache[MAX_IO_TIMERS] = {0};
 	int actions = 0;
 

platforms/nuttx/src/px4/nxp/s32k1xx/io_pins/pwm_servo.c

@@ -142,9 +142,9 @@ int up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate)
 	return io_timer_set_pwm_rate(group, rate);
 }
 
-void up_pwm_update(void)
+void up_pwm_update(unsigned channel_mask)
 {
-	io_timer_trigger();
+	io_timer_trigger(channel_mask);
 }
 
 uint32_t up_pwm_servo_get_rate_group(unsigned group)

platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/io_timer.h

@@ -147,7 +147,7 @@ __EXPORT int io_timer_allocate_channel(unsigned channel, io_timer_channel_mode_t
 __EXPORT int io_timer_unallocate_channel(unsigned channel);
 __EXPORT int io_timer_get_channel_mode(unsigned channel);
 __EXPORT int io_timer_get_mode_channels(io_timer_channel_mode_t mode);
-__EXPORT extern void io_timer_trigger(void);
+__EXPORT extern void io_timer_trigger(unsigned channels_mask);
 __EXPORT void io_timer_update_dma_req(uint8_t timer, bool enable);
 
 /**

platforms/nuttx/src/px4/stm/stm32_common/io_pins/io_timer.c

@@ -579,9 +579,9 @@ static inline void io_timer_set_PWM_mode(unsigned timer)
 	rPSC(timer) = (io_timers[timer].clock_freq / BOARD_PWM_FREQ) - 1;
 }
 
-void io_timer_trigger(void)
+void io_timer_trigger(unsigned channels_mask)
 {
-	int oneshots = io_timer_get_mode_channels(IOTimerChanMode_OneShot);
+	int oneshots = io_timer_get_mode_channels(IOTimerChanMode_OneShot) & channels_mask;
 
 	if (oneshots != 0) {
 		uint32_t action_cache[MAX_IO_TIMERS] = {0};

platforms/nuttx/src/px4/stm/stm32_common/io_pins/pwm_servo.c

@@ -141,9 +141,9 @@ int up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate)
 	return io_timer_set_pwm_rate(group, rate);
 }
 
-void up_pwm_update(void)
+void up_pwm_update(unsigned channels_mask)
 {
-	io_timer_trigger();
+	io_timer_trigger(channels_mask);
 }
 
 uint32_t up_pwm_servo_get_rate_group(unsigned group)

src/drivers/drv_pwm_output.h

@@ -358,7 +358,7 @@ __EXPORT extern int	up_pwm_servo_set_rate_group_update(unsigned group, unsigned
  * Nothing is done if not in oneshot mode.
  *
  */
-__EXPORT extern void up_pwm_update(void);
+__EXPORT extern void up_pwm_update(unsigned channel_mask);
 
 /**
  * Set the current output value for a channel.

src/drivers/pwm_out/PWMOut.cpp

@@ -438,7 +438,7 @@ bool PWMOut::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 	 * the oneshots with updated values.
 	 */
 	if (num_control_groups_updated > 0) {
-		up_pwm_update(); // TODO: review for multi
+		up_pwm_update(_pwm_mask);
 	}
 
 	return true;

src/modules/px4iofirmware/registers.c

@@ -207,7 +207,7 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
 		/* Trigger all timer's channels in Oneshot mode to fire
 		 * the oneshots with updated values.
 		 */
-		up_pwm_update();
+		up_pwm_update(0xff);
 
 		break;
 

src/systemcmds/pwm/pwm.cpp

@@ -701,7 +701,7 @@ pwm_main(int argc, char *argv[])
 			 * the oneshots with updated values.
 			 */
 
-			up_pwm_update();
+			up_pwm_update(0xff);
 #endif
 		}
 		rv = 0;