Implement fetching raw RC input values via the ioctl interface.

apps/drivers/drv_rc_input.h

@@ -100,4 +100,11 @@ struct rc_input_values {
  */
 ORB_DECLARE(input_rc);
 
+#define _RC_INPUT_BASE		0x2b00
+
+/** Fetch R/C input values into (rc_input_values *)arg */
+
+#define RC_INPUT_GET			_IOC(_RC_INPUT_BASE, 0)
+
+
 #endif /* _DRV_RC_INPUT_H */

apps/drivers/px4io/px4io.cpp

@@ -313,6 +313,8 @@ PX4IO::init()
 	if (ret != OK)
 		return ret;
 
+	_retries = 2;
+
 	/* get some parameters */
 	_max_actuators = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT);
 	_max_relays    = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RELAY_COUNT);
@@ -1032,6 +1034,36 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		ret = mixer_send((const char *)arg, strnlen(_mix_buf, 1024));
 		break;
 
+	case RC_INPUT_GET: {
+		uint16_t status;
+		rc_input_values *rc_val = (rc_input_values *)arg;
+
+		ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, &status, 1);
+		if (ret != OK)
+			break;
+
+		/* if no R/C input, don't try to fetch anything */
+		if (!(status & PX4IO_P_STATUS_FLAGS_RC_OK)) {
+			ret = -ENOTCONN;
+			break;
+		}
+
+		/* sort out the source of the values */
+		if (status & PX4IO_P_STATUS_FLAGS_RC_PPM) {
+			rc_val->input_source = RC_INPUT_SOURCE_PX4IO_PPM;
+		} else if (status & PX4IO_P_STATUS_FLAGS_RC_DSM) {
+			rc_val->input_source = RC_INPUT_SOURCE_PX4IO_SPEKTRUM;
+		} else if (status & PX4IO_P_STATUS_FLAGS_RC_SBUS) {
+			rc_val->input_source = RC_INPUT_SOURCE_PX4IO_SBUS;
+		} else {
+			rc_val->input_source = RC_INPUT_SOURCE_UNKNOWN;
+		}
+
+		/* read raw R/C input values */
+		ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE, &(rc_val->values[0]), _max_rc_input);
+		break;
+	}
+
 	default:
 		/* not a recognised value */
 		ret = -ENOTTY;