px4的PWM是如何输出的

如果有io芯片，且使用了io作为输出PWM的设备

则fmu将mixer传输给io，io进行混控计算并输出PWM，将pwm结果传递回fmu，此时无app订阅acuator_outpus，就是给人看的。

// src/drivers/px4io/px4io.cpp
             /* fetch PWM outputs from IO */
             io_publish_pwm_outputs();

在px4iofirmware和pwm_out中
都使用函数up_pwm_servo_set进行PWM输出

 // src/modules/px4iofirmware/mixer.cpp
        if (mixer_servos_armed
            && (should_arm || should_arm_nothrottle || (source == MIX_FAILSAFE))
            && !(r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN)) {
                /* update the servo outputs. */
                for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
                        up_pwm_servo_set(i, r_page_servos[i]);
                }

                /* set S.BUS1 or S.BUS2 outputs */

                if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) {
                        sbus2_output(_sbus_fd, r_page_servos, PX4IO_SERVO_COUNT);

                } else if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) {
                        sbus1_output(_sbus_fd, r_page_servos, PX4IO_SERVO_COUNT);
                }

        } else if (mixer_servos_armed && (should_always_enable_pwm
                                          || (r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN))) {
                /* set the disarmed servo outputs. */
                for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
                        up_pwm_servo_set(i, r_page_servo_disarmed[i]);
                        /* copy values into reporting register */
                        r_page_servos[i] = r_page_servo_disarmed[i];
                }

                /* set S.BUS1 or S.BUS2 outputs */
                if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) {
                        sbus1_output(_sbus_fd, r_page_servo_disarmed, PX4IO_SERVO_COUNT);
                }

                if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) {
                        sbus2_output(_sbus_fd, r_page_servo_disarmed, PX4IO_SERVO_COUNT);
                }
        }

如果有io芯片但没作为PWM输出，或者无io芯片

则在fmu的PWM输出设备上进行PWM输出

// src/drivers/pwm_out/PWMOut.cpp
// _interface可以指fmu的PWM，也可以是IO的PWM，也可以是UAVCAN等
        /* now return the outputs to the driver */
        // updateOutputs函数就输出到PWM设备了
        if (_interface.updateOutputs(stop_motors, _current_output_value, mixed_num_outputs, n_updates)) {
                actuator_outputs_s actuator_outputs{};
                setAndPublishActuatorOutputs(mixed_num_outputs, actuator_outputs);
                // 发布了actuator_outputs主题
                publishMixerStatus(actuator_outputs);
                updateLatencyPerfCounter(actuator_outputs);
        }

输出函数是

bool PWMOut::updateOutputs()

调用：

int up_pwm_servo_set(unsigned channel, servo_position_t value)

其再调用:

// platforms/nuttx/src/px4/nxp/imxrt/io_pins/io_timer.c
int io_timer_set_ccr(unsigned channel, uint16_t value)

而CCR就是产生PWM的寄存器。