From 35ce6d1b73ce40f34a7bb06731d6ef5d5d317b9e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Fri, 17 Sep 2021 11:58:05 +0200
Subject: [PATCH] pca9685_pwm_out: add dynamic mixing support

---
 src/drivers/pca9685_pwm_out/CMakeLists.txt |  2 ++
 src/drivers/pca9685_pwm_out/main.cpp       | 12 ++++++++----
 src/drivers/pca9685_pwm_out/module.yaml    | 12 ++++++++++++
 3 files changed, 22 insertions(+), 4 deletions(-)
 create mode 100644 src/drivers/pca9685_pwm_out/module.yaml

diff --git a/src/drivers/pca9685_pwm_out/CMakeLists.txt b/src/drivers/pca9685_pwm_out/CMakeLists.txt
index dfb2a46375..00f581d1f7 100644
--- a/src/drivers/pca9685_pwm_out/CMakeLists.txt
+++ b/src/drivers/pca9685_pwm_out/CMakeLists.txt
@@ -37,6 +37,8 @@ px4_add_module(
 	SRCS
 		main.cpp
 		PCA9685.cpp
+	MODULE_CONFIG
+		module.yaml
 	DEPENDS
 		mixer
 		mixer_module
diff --git a/src/drivers/pca9685_pwm_out/main.cpp b/src/drivers/pca9685_pwm_out/main.cpp
index 391e198455..7031615d62 100644
--- a/src/drivers/pca9685_pwm_out/main.cpp
+++ b/src/drivers/pca9685_pwm_out/main.cpp
@@ -124,8 +124,10 @@ PCA9685Wrapper::PCA9685Wrapper(int schd_rate_limit) :
 	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
 	_schd_rate_limit(schd_rate_limit)
 {
-	_mixing_output.setAllMinValues(PWM_DEFAULT_MIN);
-	_mixing_output.setAllMaxValues(PWM_DEFAULT_MAX);
+	if (!_mixing_output.useDynamicMixing()) {
+		_mixing_output.setAllMinValues(PWM_DEFAULT_MIN);
+		_mixing_output.setAllMaxValues(PWM_DEFAULT_MAX);
+	}
 }
 
 PCA9685Wrapper::~PCA9685Wrapper()
@@ -173,6 +175,10 @@ void PCA9685Wrapper::updateParams()
 
 void PCA9685Wrapper::updatePWMParams()
 {
+	if (_mixing_output.useDynamicMixing()) {
+		return;
+	}
+
 	// update pwm params
 	const char *pname_format_pwm_ch_max[2] = {"PWM_MAIN_MAX%d", "PWM_AUX_MAX%d"};
 	const char *pname_format_pwm_ch_min[2] = {"PWM_MAIN_MIN%d", "PWM_AUX_MIN%d"};
@@ -369,7 +375,6 @@ bool PCA9685Wrapper::updateOutputs(bool stop_motors, uint16_t *outputs, unsigned
 void PCA9685Wrapper::Run()
 {
 	if (should_exit()) {
-		PX4_INFO("PCA9685 stopping.");
 		ScheduleClear();
 		_mixing_output.unregister();
 		unregister_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH, _class_instance);
@@ -457,7 +462,6 @@ void PCA9685Wrapper::Run()
 	perf_end(_cycle_perf);
 }
 
-// TODO
 int PCA9685Wrapper::ioctl(cdev::file_t *filep, int cmd, unsigned long arg)
 {
 	int ret = OK;
diff --git a/src/drivers/pca9685_pwm_out/module.yaml b/src/drivers/pca9685_pwm_out/module.yaml
new file mode 100644
index 0000000000..20b955cf78
--- /dev/null
+++ b/src/drivers/pca9685_pwm_out/module.yaml
@@ -0,0 +1,12 @@
+module_name: PCA9685 Output
+actuator_output:
+  output_groups:
+    - param_prefix: PCA9685
+      channel_label: 'PCA9685'
+      standard_params:
+        disarmed: { min: 800, max: 2200, default: 900 }
+        min: { min: 800, max: 1400, default: 1000 }
+        max: { min: 1600, max: 2200, default: 2000 }
+        failsafe: { min: 800, max: 2200 }
+      num_channels: 16
+