添加了很多驱动模块，但是暂时无法使用，有待进一步修改

apps/peripheral/actuator/pwm_out/CMakeLists.txt

@@ -0,0 +1,53 @@
+############################################################################
+#
+#   Copyright (c) 2015-2020 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.
+#
+############################################################################
+
+set(PARAM_PREFIX PWM_MAIN)
+
+if(CONFIG_BOARD_IO)
+	set(PARAM_PREFIX PWM_AUX)
+endif()
+
+px4_add_module(
+	MODULE drivers__pwm_out
+	MAIN pwm_out
+	COMPILE_FLAGS
+		-DPARAM_PREFIX="${PARAM_PREFIX}"
+	SRCS
+		PWMOut.cpp
+		PWMOut.hpp
+	MODULE_CONFIG
+		module.yaml
+	DEPENDS
+		arch_io_pins
+		mixer_module
+	)

apps/peripheral/actuator/pwm_out/Kconfig

@@ -0,0 +1,5 @@
+menuconfig DRIVERS_PWM_OUT
+	bool "pwm_out"
+	default n
+	---help---
+		Enable support for pwm_out

apps/peripheral/actuator/pwm_out/PWMOut.cpp

@@ -0,0 +1,336 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2022 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.
+ *
+ ****************************************************************************/
+
+#include "PWMOut.hpp"
+
+#include <px4_platform_common/sem.hpp>
+
+PWMOut::PWMOut() :
+	OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default)
+{
+	_pwm_mask = ((1u << DIRECT_PWM_OUTPUT_CHANNELS) - 1);
+	_mixing_output.setMaxNumOutputs(DIRECT_PWM_OUTPUT_CHANNELS);
+
+	// Getting initial parameter values
+	update_params();
+}
+
+PWMOut::~PWMOut()
+{
+	/* make sure servos are off */
+	up_pwm_servo_deinit(_pwm_mask);
+
+	perf_free(_cycle_perf);
+	perf_free(_interval_perf);
+}
+
+bool PWMOut::update_pwm_out_state(bool on)
+{
+	if (on && !_pwm_initialized && _pwm_mask != 0) {
+
+		for (int timer = 0; timer < MAX_IO_TIMERS; ++timer) {
+			_timer_rates[timer] = -1;
+
+			uint32_t channels = io_timer_get_group(timer);
+
+			if (channels == 0) {
+				continue;
+			}
+
+			char param_name[17];
+			snprintf(param_name, sizeof(param_name), "%s_TIM%u", _mixing_output.paramPrefix(), timer);
+
+			int32_t tim_config = 0;
+			param_t handle = param_find(param_name);
+			param_get(handle, &tim_config);
+
+			if (tim_config > 0) {
+				_timer_rates[timer] = tim_config;
+
+			} else if (tim_config == -1) { // OneShot
+				_timer_rates[timer] = 0;
+
+			} else {
+				_pwm_mask &= ~channels; // don't use for pwm
+			}
+		}
+
+		int ret = up_pwm_servo_init(_pwm_mask);
+
+		if (ret < 0) {
+			PX4_ERR("up_pwm_servo_init failed (%i)", ret);
+			return false;
+		}
+
+		_pwm_mask = ret;
+
+		// set the timer rates
+		for (int timer = 0; timer < MAX_IO_TIMERS; ++timer) {
+			uint32_t channels = _pwm_mask & up_pwm_servo_get_rate_group(timer);
+
+			if (channels == 0) {
+				continue;
+			}
+
+			ret = up_pwm_servo_set_rate_group_update(timer, _timer_rates[timer]);
+
+			if (ret != 0) {
+				PX4_ERR("up_pwm_servo_set_rate_group_update failed for timer %i, rate %i (%i)", timer, _timer_rates[timer], ret);
+				_timer_rates[timer] = -1;
+				_pwm_mask &= ~channels;
+			}
+		}
+
+		_pwm_initialized = true;
+
+		// disable unused functions
+		for (unsigned i = 0; i < _num_outputs; ++i) {
+			if (((1 << i) & _pwm_mask) == 0) {
+				_mixing_output.disableFunction(i);
+			}
+		}
+	}
+
+	up_pwm_servo_arm(on, _pwm_mask);
+	return true;
+}
+
+bool PWMOut::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
+			   unsigned num_outputs, unsigned num_control_groups_updated)
+{
+	/* output to the servos */
+	if (_pwm_initialized) {
+		for (size_t i = 0; i < num_outputs; i++) {
+			if (!_mixing_output.isFunctionSet(i)) {
+				// do not run any signal on disabled channels
+				outputs[i] = 0;
+			}
+
+			if (_pwm_mask & (1 << i)) {
+				up_pwm_servo_set(i, outputs[i]);
+			}
+		}
+	}
+
+	/* Trigger all timer's channels in Oneshot mode to fire
+	 * the oneshots with updated values.
+	 */
+	if (num_control_groups_updated > 0) {
+		up_pwm_update(_pwm_mask);
+	}
+
+	return true;
+}
+
+void PWMOut::Run()
+{
+	if (should_exit()) {
+		ScheduleClear();
+		_mixing_output.unregister();
+
+		exit_and_cleanup();
+		return;
+	}
+
+	perf_begin(_cycle_perf);
+	perf_count(_interval_perf);
+
+	_mixing_output.update();
+
+	/* update PWM status if armed or if disarmed PWM values are set */
+	bool pwm_on = true;
+
+	if (_pwm_on != pwm_on) {
+		if (update_pwm_out_state(pwm_on)) {
+			_pwm_on = pwm_on;
+		}
+	}
+
+	// check for parameter updates
+	if (_parameter_update_sub.updated()) {
+		// clear update
+		parameter_update_s pupdate;
+		_parameter_update_sub.copy(&pupdate);
+
+		// update parameters from storage
+		update_params();
+	}
+
+	// check at end of cycle (updateSubscriptions() can potentially change to a different WorkQueue thread)
+	_mixing_output.updateSubscriptions(true);
+
+	perf_end(_cycle_perf);
+	_first_update_cycle = false;
+}
+
+int PWMOut::task_spawn(int argc, char *argv[])
+{
+	PWMOut *instance = new PWMOut();
+
+	if (!instance) {
+		PX4_ERR("alloc failed");
+		return -1;
+	}
+
+	_object.store(instance);
+	_task_id = task_id_is_work_queue;
+	instance->ScheduleNow();
+	return 0;
+}
+
+void PWMOut::update_params()
+{
+	uint32_t previously_set_functions = 0;
+
+	for (size_t i = 0; i < _num_outputs; i++) {
+		previously_set_functions |= (uint32_t)_mixing_output.isFunctionSet(i) << i;
+	}
+
+	updateParams();
+
+	// Automatically set PWM configuration when a channel is first assigned
+	if (!_first_update_cycle) {
+		for (size_t i = 0; i < _num_outputs; i++) {
+			if ((previously_set_functions & (1u << i)) == 0 && _mixing_output.functionParamHandle(i) != PARAM_INVALID) {
+				int32_t output_function;
+
+				if (param_get(_mixing_output.functionParamHandle(i), &output_function) == 0) {
+					// Servos need PWM rate 50Hz and disramed value 1500us
+					if (output_function >= (int)OutputFunction::Servo1
+					    && output_function <= (int)OutputFunction::ServoMax) { // Function got set to a servo
+						int32_t val = 1500;
+						PX4_INFO("Setting channel %i disarmed to %i", (int) val, i);
+						param_set(_mixing_output.disarmedParamHandle(i), &val);
+
+						// If the whole timer group was not set previously, then set the pwm rate to 50 Hz
+						for (int timer = 0; timer < MAX_IO_TIMERS; ++timer) {
+
+							uint32_t channels = io_timer_get_group(timer);
+
+							if ((channels & (1u << i)) == 0) {
+								continue;
+							}
+
+							if ((channels & previously_set_functions) == 0) { // None of the channels was set
+								char param_name[17];
+								snprintf(param_name, sizeof(param_name), "%s_TIM%u", _mixing_output.paramPrefix(), timer);
+
+								int32_t tim_config = 0;
+								param_t handle = param_find(param_name);
+
+								if (param_get(handle, &tim_config) == 0 && tim_config == 400) {
+									tim_config = 50;
+									PX4_INFO("setting timer %i to %i Hz", timer, (int) tim_config);
+									param_set(handle, &tim_config);
+								}
+							}
+						}
+					}
+
+					// Motors need a minimum value that idles the motor and have a deadzone at the top of the range
+					if (output_function >= (int)OutputFunction::Motor1
+					    && output_function <= (int)OutputFunction::MotorMax) { // Function got set to a motor
+						int32_t val = 1100;
+						PX4_INFO("Setting channel %i minimum to %i", (int) val, i);
+						param_set(_mixing_output.minParamHandle(i), &val);
+						val = 1900;
+						PX4_INFO("Setting channel %i maximum to %i", (int) val, i);
+						param_set(_mixing_output.maxParamHandle(i), &val);
+					}
+				}
+			}
+		}
+	}
+}
+
+int PWMOut::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int PWMOut::print_status()
+{
+	perf_print_counter(_cycle_perf);
+	perf_print_counter(_interval_perf);
+	_mixing_output.printStatus();
+
+	if (_pwm_initialized) {
+		for (int timer = 0; timer < MAX_IO_TIMERS; ++timer) {
+			if (_timer_rates[timer] >= 0) {
+				PX4_INFO_RAW("Timer %i: rate: %3i", timer, _timer_rates[timer]);
+				uint32_t channels = _pwm_mask & up_pwm_servo_get_rate_group(timer);
+
+				if (channels > 0) {
+					PX4_INFO_RAW(" channels: ");
+
+					for (uint32_t channel = 0; channel < _num_outputs; ++channel) {
+						if ((1 << channel) & channels) {
+							PX4_INFO_RAW("%" PRIu32 " ", channel);
+						}
+					}
+				}
+
+				PX4_INFO_RAW("\n");
+			}
+		}
+	}
+
+	return 0;
+}
+
+int PWMOut::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+This module is responsible for driving the output pins. For boards without a separate IO chip
+(eg. Pixracer), it uses the main channels. On boards with an IO chip (eg. Pixhawk), it uses the AUX channels, and the
+px4io driver is used for main ones.
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("pwm_out", "driver");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int pwm_out_main(int argc, char *argv[])
+{
+	return PWMOut::main(argc, argv);
+}