Build S.BUS and DSM decoders in RC lib

src/lib/rc/CMakeLists.txt

@@ -37,6 +37,7 @@ px4_add_module(
 	SRCS
 		st24.c
 		sumd.c
+		sbus.c
 	DEPENDS
 		platforms__common
 	)

src/lib/rc/dsm.c

@@ -46,9 +46,16 @@
 #include <unistd.h>
 #include <termios.h>
 
+#include "dsm.h"
 #include <drivers/drv_hrt.h>
 
-#include "px4io.h"
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
+ #include <px4io.h>
+#endif
+
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
+ #include <px4io.h>
+#endif
 
 #define DSM_FRAME_SIZE		16		/**<DSM frame size in bytes*/
 #define DSM_FRAME_CHANNELS	7		/**<Max supported DSM channels*/
@@ -185,18 +192,18 @@ dsm_guess_format(bool reset)
 
 	if ((votes11 == 1) && (votes10 == 0)) {
 		dsm_channel_shift = 11;
-		debug("DSM: 11-bit format");
+		//debug("DSM: 11-bit format");
 		return;
 	}
 
 	if ((votes10 == 1) && (votes11 == 0)) {
 		dsm_channel_shift = 10;
-		debug("DSM: 10-bit format");
+		//debug("DSM: 10-bit format");
 		return;
 	}
 
 	/* call ourselves to reset our state ... we have to try again */
-	debug("DSM: format detect fail, 10: 0x%08x %d 11: 0x%08x %d", cs10, votes10, cs11, votes11);
+	//debug("DSM: format detect fail, 10: 0x%08x %d 11: 0x%08x %d", cs10, votes10, cs11, votes11);
 	dsm_guess_format(true);
 }
 
@@ -237,11 +244,11 @@ dsm_init(const char *device)
 		/* reset the format detector */
 		dsm_guess_format(true);
 
-		debug("DSM: ready");
+		//debug("DSM: ready");
 
 	} else {
 
-		debug("DSM: open failed");
+		//debug("DSM: open failed");
 
 	}
 
@@ -257,11 +264,9 @@ dsm_init(const char *device)
 void
 dsm_bind(uint16_t cmd, int pulses)
 {
-#if !defined(CONFIG_ARCH_BOARD_PX4IO_V1) && !defined(CONFIG_ARCH_BOARD_PX4IO_V2)
+#if !defined(GPIO_USART1_RX_SPEKTRUM)
 #warning DSM BIND NOT IMPLEMENTED ON UNKNOWN PLATFORM
 #else
-	const uint32_t usart1RxAsOutp =
-		GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN10;
 
 	if (dsm_fd < 0) {
 		return;
@@ -272,9 +277,9 @@ dsm_bind(uint16_t cmd, int pulses)
 	case dsm_bind_power_down:
 
 		/*power down DSM satellite*/
-#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
+#if defined(CONFIG_ARCH_BOARD_PX4IO_V1)
 		POWER_RELAY1(0);
-#else /* CONFIG_ARCH_BOARD_PX4IO_V2 */
+#elif defined(CONFIG_ARCH_BOARD_PX4IO_V2)
 		POWER_SPEKTRUM(0);
 #endif
 		break;
@@ -282,9 +287,9 @@ dsm_bind(uint16_t cmd, int pulses)
 	case dsm_bind_power_up:
 
 		/*power up DSM satellite*/
-#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
+#if defined(CONFIG_ARCH_BOARD_PX4IO_V1)
 		POWER_RELAY1(1);
-#else /* CONFIG_ARCH_BOARD_PX4IO_V2 */
+#elif defined(CONFIG_ARCH_BOARD_PX4IO_V2)
 		POWER_SPEKTRUM(1);
 #endif
 		dsm_guess_format(true);
@@ -293,7 +298,7 @@ dsm_bind(uint16_t cmd, int pulses)
 	case dsm_bind_set_rx_out:
 
 		/*Set UART RX pin to active output mode*/
-		stm32_configgpio(usart1RxAsOutp);
+		stm32_configgpio(GPIO_USART1_RX_SPEKTRUM);
 		break;
 
 	case dsm_bind_send_pulses:
@@ -301,9 +306,9 @@ dsm_bind(uint16_t cmd, int pulses)
 		/*Pulse RX pin a number of times*/
 		for (int i = 0; i < pulses; i++) {
 			up_udelay(120);
-			stm32_gpiowrite(usart1RxAsOutp, false);
+			stm32_gpiowrite(GPIO_USART1_RX_SPEKTRUM, false);
 			up_udelay(120);
-			stm32_gpiowrite(usart1RxAsOutp, true);
+			stm32_gpiowrite(GPIO_USART1_RX_SPEKTRUM, true);
 		}
 
 		break;

src/lib/rc/dsm.h

@@ -0,0 +1,52 @@
+/****************************************************************************
+ *
+ *	Copyright (c) 2012-2015 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file dsm.h
+ *
+ * RC protocol definition for Spektrum RC
+ *
+ * @author Lorenz Meier <lorenz@px4.io>
+ */
+
+#pragma once
+
+#include <stdint.h>
+
+__BEGIN_DECLS
+
+__EXPORT int	dsm_init(const char *device);
+__EXPORT bool	dsm_input(uint16_t *values, uint16_t *num_values, uint8_t *n_bytes, uint8_t **bytes);
+__EXPORT void	dsm_bind(uint16_t cmd, int pulses);
+
+__END_DECLS

src/lib/rc/sbus.c

@@ -43,15 +43,9 @@
 #include <unistd.h>
 #include <termios.h>
 
-#include <systemlib/ppm_decode.h>
-
+#include "sbus.h"
 #include <drivers/drv_hrt.h>
 
-#define DEBUG
-#include "px4io.h"
-#include "protocol.h"
-#include "debug.h"
-
 #define SBUS_FRAME_SIZE		25
 #define SBUS_INPUT_CHANNELS	16
 #define SBUS_FLAGS_BYTE		23
@@ -77,8 +71,6 @@
 #define SBUS_SCALE_FACTOR ((SBUS_TARGET_MAX - SBUS_TARGET_MIN) / (SBUS_RANGE_MAX - SBUS_RANGE_MIN))
 #define SBUS_SCALE_OFFSET (int)(SBUS_TARGET_MIN - (SBUS_SCALE_FACTOR * SBUS_RANGE_MIN + 0.5f))
 
-static int sbus_fd = -1;
-
 static hrt_abstime last_rx_time;
 static hrt_abstime last_frame_time;
 static hrt_abstime last_txframe_time = 0;
@@ -93,11 +85,9 @@ static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_
 			bool *sbus_frame_drop, uint16_t max_channels);
 
 int
-sbus_init(const char *device)
+sbus_init(const char *device, bool singlewire)
 {
-	if (sbus_fd < 0) {
-		sbus_fd = open(device, O_RDWR | O_NONBLOCK);
-	}
+	int sbus_fd = open(device, O_RDWR | O_NONBLOCK);
 
 	if (sbus_fd >= 0) {
 		struct termios t;
@@ -108,21 +98,24 @@ sbus_init(const char *device)
 		t.c_cflag |= (CSTOPB | PARENB);
 		tcsetattr(sbus_fd, TCSANOW, &t);
 
+		if (singlewire) {
+			/* only defined in configs capable of IOCTL */
+			#ifdef SBUS_SERIAL_PORT
+			ioctl(uart, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
+			#endif
+		}
+
 		/* initialise the decoder */
 		partial_frame_count = 0;
 		last_rx_time = hrt_absolute_time();
 
-		debug("S.Bus: ready");
-
-	} else {
-		debug("S.Bus: open failed");
 	}
 
 	return sbus_fd;
 }
 
 void
-sbus1_output(uint16_t *values, uint16_t num_values)
+sbus1_output(int sbus_fd, uint16_t *values, uint16_t num_values)
 {
 	uint8_t byteindex = 1; /*Data starts one byte into the sbus frame. */
 	uint8_t offset = 0;
@@ -161,14 +154,14 @@ sbus1_output(uint16_t *values, uint16_t num_values)
 	}
 }
 void
-sbus2_output(uint16_t *values, uint16_t num_values)
+sbus2_output(int sbus_fd, uint16_t *values, uint16_t num_values)
 {
 	char b = 'B';
 	write(sbus_fd, &b, 1);
 }
 
 bool
-sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels)
+sbus_input(int sbus_fd, uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels)
 {
 	ssize_t		ret;
 	hrt_abstime	now;
@@ -331,7 +324,7 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool
 	}
 
 	/* decode switch channels if data fields are wide enough */
-	if (PX4IO_RC_INPUT_CHANNELS > 17 && chancount > 15) {
+	if (max_values > 17 && chancount > 15) {
 		chancount = 18;
 
 		/* channel 17 (index 16) */

src/lib/rc/sbus.h

@@ -0,0 +1,55 @@
+/****************************************************************************
+ *
+ *	Copyright (c) 2012-2015 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file sbus.h
+ *
+ * RC protocol definition for S.BUS
+ *
+ * @author Lorenz Meier <lorenz@px4.io>
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <stdbool.h>
+
+__BEGIN_DECLS
+
+__EXPORT int	sbus_init(const char *device, bool singlewire);
+__EXPORT bool	sbus_input(int sbus_fd, uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop,
+			   uint16_t max_channels);
+__EXPORT void	sbus1_output(int sbus_fd, uint16_t *values, uint16_t num_values);
+__EXPORT void	sbus2_output(int sbus_fd, uint16_t *values, uint16_t num_values);
+
+__END_DECLS

src/lib/rc/sumd.h

@@ -101,7 +101,7 @@ uint8_t sumd_crc8(uint8_t crc, uint8_t value);
 __EXPORT int sumd_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_t *channel_count,
 				 uint16_t *channels, uint16_t max_chan_count);
 */
-int sumd_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_t *channel_count,
+__EXPORT int sumd_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_t *channel_count,
 		uint16_t *channels, uint16_t max_chan_count);