HAL_PX4: added rc_bind for DSM bind

libraries/AP_HAL_PX4/RCInput.cpp

@@ -2,6 +2,9 @@
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
 #include "RCInput.h"
+#include <fcntl.h>
+#include <unistd.h>
+#include <drivers/drv_pwm_output.h>
 #include <drivers/drv_hrt.h>
 #include <uORB/uORB.h>
 
@@ -114,4 +117,22 @@ void PX4RCInput::_timer_tick(void)
 	perf_end(_perf_rcin);
 }
 
+bool PX4RCInput::rc_bind(int dsmMode)
+{
+    int fd = open("/dev/px4io", 0);
+    if (fd == -1) {
+        hal.console->printf("RCInput: failed to open /dev/px4io\n");
+        return false;
+    }
+    
+    uint32_t mode = (dsmMode == 0) ? DSM2_BIND_PULSES : ((dsmMode == 1) ? DSMX_BIND_PULSES : DSMX8_BIND_PULSES);
+    int ret = ioctl(fd, DSM_BIND_START, mode);
+    close(fd);
+    if (ret != 0) {
+        hal.console->printf("RCInput: Unable to start DSM bind\n");
+        return false;
+    }
+    return true;
+}
+
 #endif

libraries/AP_HAL_PX4/RCInput.h

@@ -21,6 +21,8 @@ public:
 
     void _timer_tick(void);
 
+    bool rc_bind(int dsmMode);
+
 private:
     /* override state */
     uint16_t _override[RC_INPUT_MAX_CHANNELS];