PWM in / RC in driver: Move to generated uORB topic

msg/input_rc.msg

@@ -0,0 +1,21 @@
+uint8 RC_INPUT_SOURCE_UNKNOWN = 0
+uint8 RC_INPUT_SOURCE_PX4FMU_PPM = 1
+uint8 RC_INPUT_SOURCE_PX4IO_PPM = 2
+uint8 RC_INPUT_SOURCE_PX4IO_SPEKTRUM = 3
+uint8 RC_INPUT_SOURCE_PX4IO_SBUS = 4
+uint8 RC_INPUT_SOURCE_PX4IO_ST24 = 5
+uint8 RC_INPUT_SOURCE_MAVLINK = 6
+
+uint8 RC_INPUT_MAX_CHANNELS = 18 	# Maximum number of R/C input channels in the system. S.Bus has up to 18 channels.
+
+uint64 timestamp_publication		# publication time
+uint64 timestamp_last_signal		# last valid reception time
+uint32 channel_count			# number of channels actually being seen
+int32 rssi				# receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 100: full reception
+bool rc_failsafe			# explicit failsafe flag: true on TX failure or TX out of range , false otherwise. Only the true state is reliable, as there are some (PPM) receivers on the market going into failsafe without telling us explicitly.
+bool rc_lost				# RC receiver connection status: True,if no frame has arrived in the expected time, false otherwise. True usally means that the receiver has been disconnected, but can also indicate a radio link loss on "stupid" systems. Will remain false, if a RX with failsafe option continues to transmit frames after a link loss.
+uint16 rc_lost_frame_count		# Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike funtionality.
+uint16 rc_total_frame_count		# Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike funtionality.
+uint16 rc_ppm_frame_length		# Length of a single PPM frame. Zero for non-PPM systems
+uint8 input_source			# Input source
+uint16[18] values			# measured pulse widths for each of the supported channels

src/drivers/drv_rc_input.h

@@ -57,11 +57,6 @@
  */
 #define RC_INPUT0_DEVICE_PATH	"/dev/input_rc0"
 
-/**
- * Maximum number of R/C input channels in the system. S.Bus has up to 18 channels.
- */
-#define RC_INPUT_MAX_CHANNELS	18
-
 /**
  * Maximum RSSI value
  */
@@ -82,10 +77,9 @@
  */
 #define RC_INPUT_MAX_DEADZONE_US	500
 
-/**
- * @addtogroup topics
- * @{
- */
+#include <uORB/topics/input_rc.h>
+#define pwm_output_values output_pwm_s
+#define rc_input_values input_rc_s
 
 /**
  * Input signal type, value is a control position from zero to 100
@@ -93,85 +87,6 @@
  */
 typedef uint16_t		rc_input_t;
 
-enum RC_INPUT_SOURCE {
-	RC_INPUT_SOURCE_UNKNOWN = 0,
-	RC_INPUT_SOURCE_PX4FMU_PPM,
-	RC_INPUT_SOURCE_PX4IO_PPM,
-	RC_INPUT_SOURCE_PX4IO_SPEKTRUM,
-	RC_INPUT_SOURCE_PX4IO_SBUS,
-	RC_INPUT_SOURCE_PX4IO_ST24,
-	RC_INPUT_SOURCE_MAVLINK
-};
-
-/**
- * R/C input status structure.
- *
- * Published to input_rc, may also be published to other names depending
- * on the board involved.
- */
-struct rc_input_values {
-	/** publication time */
-	uint64_t		timestamp_publication;
-
-	/** last valid reception time */
-	uint64_t		timestamp_last_signal;
-
-	/** number of channels actually being seen */
-	uint32_t		channel_count;
-
-	/** receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 100: full reception */
-	int32_t			rssi;
-
-	/**
-	 * explicit failsafe flag: true on TX failure or TX out of range , false otherwise.
-	 * Only the true state is reliable, as there are some (PPM) receivers on the market going
-	 * into failsafe without telling us explicitly.
-	 * */
-	bool			rc_failsafe;
-
-	/**
-	 * RC receiver connection status: True,if no frame has arrived in the expected time, false otherwise.
-	 * True usally means that the receiver has been disconnected, but can also indicate a radio link loss on "stupid" systems.
-	 * Will remain false, if a RX with failsafe option continues to transmit frames after a link loss.
-	 * */
-	bool			rc_lost;
-
-	/**
-	 * Number of lost RC frames.
-	 * Note: intended purpose: observe the radio link quality if RSSI is not available
-	 * This value must not be used to trigger any failsafe-alike funtionality.
-	 * */
-	uint16_t		rc_lost_frame_count;
-
-	/**
-	 * Number of total RC frames.
-	 * Note: intended purpose: observe the radio link quality if RSSI is not available
-	 * This value must not be used to trigger any failsafe-alike funtionality.
-	 * */
-	uint16_t		rc_total_frame_count;
-
-	/**
-	 * Length of a single PPM frame.
-	 * Zero for non-PPM systems
-	 */
-	uint16_t		rc_ppm_frame_length;
-
-	/** Input source */
-	enum RC_INPUT_SOURCE 	input_source;
-
-	/** measured pulse widths for each of the supported channels */
-	rc_input_t		values[RC_INPUT_MAX_CHANNELS];
-};
-
-/**
- * @}
- */
-
-/*
- * ObjDev tag for R/C inputs.
- */
-ORB_DECLARE(input_rc);
-
 #define _RC_INPUT_BASE		0x2b00
 
 /** Fetch R/C input values into (rc_input_values *)arg */