VOXL2 snapdragon spektrum rc refactor (#21427)

* Replaced outdated snapdragon_spektrum_rc and spektrum_rc drivers with VOXL2 board specific spektrum_rc driver

boards/modalai/voxl2-slpi/src/CMakeLists.txt

@@ -47,3 +47,4 @@ add_library(drivers_board
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/icm42688p)
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/rc_controller)
 add_subdirectory(${PX4_BOARD_DIR}/src/drivers/mavlink_rc_in)
+add_subdirectory(${PX4_BOARD_DIR}/src/drivers/spektrum_rc)

boards/modalai/voxl2-slpi/src/drivers/spektrum_rc/CMakeLists.txt

@@ -32,10 +32,13 @@
 ############################################################################
 
 px4_add_module(
-	MODULE drivers__snapdragon_spektrum_rc
+	MODULE drivers__spektrum_rc
 	MAIN spektrum_rc
+	INCLUDES
+		${PX4_SOURCE_DIR}/src/drivers/rc_input
 	SRCS
 		spektrum_rc.cpp
 	DEPENDS
 		rc
 	)
+

boards/modalai/voxl2-slpi/src/drivers/spektrum_rc/drv_rc_input.h

@@ -0,0 +1,88 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 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 drv_rc_input.h
+ *
+ * R/C input interface.
+ */
+
+#ifndef _DRV_RC_INPUT_H
+#define _DRV_RC_INPUT_H
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+#include <uORB/topics/input_rc.h>
+
+// #include "drv_orb_dev.h"
+
+/**
+ * Path for the default R/C input device.
+ *
+ * Note that on systems with more than one R/C input path (e.g.
+ * PX4FMU with PX4IO connected) there may be other devices that
+ * respond to this protocol.
+ *
+ * Input data may be obtained by subscribing to the input_rc
+ * object, or by poll/reading from the device.
+ */
+#define RC_INPUT0_DEVICE_PATH	"/dev/input_rc0"
+
+/**
+ * Maximum RSSI value
+ */
+#define RC_INPUT_RSSI_MAX	100
+
+/**
+ * Input signal type, value is a control position from zero to 100
+ * percent.
+ */
+typedef uint16_t		rc_input_t;
+
+#define _RC_INPUT_BASE		0x2b00
+
+/** Enable RSSI input via ADC */
+#ifdef __PX4_POSIX
+#define RC_INPUT_ENABLE_RSSI_ANALOG	(_RC_INPUT_BASE | 1)
+#else
+#define RC_INPUT_ENABLE_RSSI_ANALOG	_IOC(_RC_INPUT_BASE, 1)
+#endif
+
+/** Enable RSSI input via PWM signal */
+#ifdef __PX4_POSIX
+#define RC_INPUT_ENABLE_RSSI_PWM	(_RC_INPUT_BASE | 2)
+#else
+#define RC_INPUT_ENABLE_RSSI_PWM	_IOC(_RC_INPUT_BASE, 2)
+#endif
+
+#endif /* _DRV_RC_INPUT_H */

boards/modalai/voxl2-slpi/src/drivers/spektrum_rc/spektrum_rc.cpp

@@ -46,13 +46,23 @@
 #include <px4_platform_common/getopt.h>
 
 #include <lib/rc/dsm.h>
+#include <px4_log.h>
+#include "drv_rc_input.h"
 #include <drivers/drv_hrt.h>
 
+#ifdef __PX4_QURT
+#include <drivers/device/qurt/uart.h>
+#endif
+
 #include <uORB/uORB.h>
 #include <uORB/topics/input_rc.h>
 
 // Snapdraogon: use J12 (next to J13, power module side)
+#ifdef __PX4_QURT
+#define SPEKTRUM_UART_DEVICE_PATH "7"
+#else
 #define SPEKTRUM_UART_DEVICE_PATH "/dev/tty-3"
+#endif
 
 #define UNUSED(x) (void)(x)
 
@@ -82,13 +92,19 @@ void task_main(int argc, char *argv[])
 	int ch;
 	int myoptind = 1;
 	const char *myoptarg = NULL;
+	bool verbose = false;
 
-	while ((ch = px4_getopt(argc, argv, "d:", &myoptind, &myoptarg)) != EOF) {
+	while ((ch = px4_getopt(argc, argv, "vd:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 'd':
 			device_path = myoptarg;
 			break;
 
+		case 'v':
+			PX4_INFO("Spektrum RC: Enabling verbose mode");
+			verbose = true;
+			break;
+
 		default:
 			break;
 		}
@@ -96,9 +112,12 @@ void task_main(int argc, char *argv[])
 
 	int uart_fd = dsm_init(device_path);
 
-	if (uart_fd < 1) {
+	if (uart_fd < 0) {
 		PX4_ERR("dsm init failed");
 		return;
+
+	} else if (verbose) {
+		PX4_INFO("Spektrum RC: dsm_init succeeded");
 	}
 
 	orb_advert_t rc_pub = nullptr;
@@ -109,50 +128,94 @@ void task_main(int argc, char *argv[])
 	_is_running = true;
 	uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS];
 	uint16_t raw_rc_count = 0;
+	uint32_t loop_counter = 0;
+	bool     print_msg = false;
+	bool     first_correct_frame_received = false;
+	int      newbytes = 0;
 
 	// Main loop
 	while (!_task_should_exit) {
 
-		int newbytes = ::read(uart_fd, &rx_buf[0], sizeof(rx_buf));
+		if (((loop_counter % 20) == 0) && verbose) { print_msg = true; }
 
-		if (newbytes < 0) {
+		loop_counter++;
-			PX4_WARN("read failed");
-			continue;
-		}
 
-		if (newbytes == 0) {
+#ifdef __PX4_QURT
-			continue;
+#define ASYNC_UART_READ_WAIT_US 2000
-		}
+		// The UART read on SLPI is via an asynchronous service so specify a timeout
+		// for the return. The driver will poll periodically until the read comes in
+		// so this may block for a while. However, it will timeout if no read comes in.
+		newbytes =  qurt_uart_read(uart_fd, (char *) &rx_buf[0], sizeof(rx_buf), ASYNC_UART_READ_WAIT_US);
+#else
+		newbytes = read(uart_fd, &rx_buf[0], sizeof(rx_buf));
+#endif
 
-		const hrt_abstime now = hrt_absolute_time();
+		if (newbytes <= 0) {
+			if (print_msg) { PX4_INFO("Spektrum RC: Read no bytes from UART"); }
 
-		bool dsm_11_bit;
+		} else if (((newbytes != DSM_FRAME_SIZE) || ((rx_buf[1] & 0x0F) != 0x02)) && (! first_correct_frame_received)) {
-		unsigned frame_drops;
+			PX4_ERR("Spektrum RC: Read something other than correct DSM frame on read. Got %d bytes. Protocol byte is 0x%.2x",
-		int8_t dsm_rssi;
+				newbytes, rx_buf[1]);
 
-		// parse new data
+		} else {
-		bool rc_updated = dsm_parse(now, rx_buf, newbytes, &raw_rc_values[0], &raw_rc_count,
+			if (print_msg) { PX4_INFO("Spektrum RC: Read %d bytes from UART", newbytes); }
-					    &dsm_11_bit, &frame_drops, &dsm_rssi, input_rc_s::RC_INPUT_MAX_CHANNELS);
-		UNUSED(dsm_11_bit);
 
-		if (rc_updated) {
+			first_correct_frame_received = true;
 
-			input_rc_s input_rc = {};
+			const hrt_abstime now = hrt_absolute_time();
 
-			fill_input_rc(raw_rc_count, raw_rc_values, now, false, false, frame_drops, dsm_rssi,
+			bool dsm_11_bit;
-				      input_rc);
+			unsigned frame_drops;
+			int8_t dsm_rssi;
 
-			if (rc_pub == nullptr) {
+			// parse new data
-				rc_pub = orb_advertise(ORB_ID(input_rc), &input_rc);
+			bool rc_updated = dsm_parse(now, rx_buf, newbytes, &raw_rc_values[0], &raw_rc_count,
+						    &dsm_11_bit, &frame_drops, &dsm_rssi, input_rc_s::RC_INPUT_MAX_CHANNELS);
+			UNUSED(dsm_11_bit);
 
-			} else {
+			if (rc_updated) {
-				orb_publish(ORB_ID(input_rc), rc_pub, &input_rc);
+				if (print_msg) { PX4_INFO("Spektrum RC: DSM message parsed successfully"); }
+
+				input_rc_s input_rc = {};
+
+				fill_input_rc(raw_rc_count, raw_rc_values, now, false, false, frame_drops, dsm_rssi,
+					      input_rc);
+
+				if (rc_pub == nullptr) {
+					rc_pub = orb_advertise(ORB_ID(input_rc), &input_rc);
+
+				} else {
+					if (print_msg) { PX4_INFO("Spektrum RC: Publishing input_rc"); }
+
+					orb_publish(ORB_ID(input_rc), rc_pub, &input_rc);
+				}
+			}
+
+			if (print_msg) {
+				PX4_INFO("0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x",
+					 rx_buf[0],
+					 rx_buf[1],
+					 rx_buf[2],
+					 rx_buf[3],
+					 rx_buf[4],
+					 rx_buf[5],
+					 rx_buf[6],
+					 rx_buf[7],
+					 rx_buf[8],
+					 rx_buf[9],
+					 rx_buf[10],
+					 rx_buf[11],
+					 rx_buf[12],
+					 rx_buf[13],
+					 rx_buf[14],
+					 rx_buf[15]);
 			}
 		}
 
+		print_msg = false;
+
 		// sleep since no poll for qurt
 		usleep(10000);
-
 	}
 
 	orb_unadvertise(rc_pub);
@@ -204,9 +267,6 @@ void fill_input_rc(uint16_t raw_rc_count, uint16_t raw_rc_values[input_rc_s::RC_
 	input_rc.rc_lost = (valid_chans == 0);
 	input_rc.rc_lost_frame_count = frame_drops;
 	input_rc.rc_total_frame_count = 0;
-
-	input_rc.link_quality = -1;
-	input_rc.rssi_dbm = NAN;
 }
 
 int start(int argc, char *argv[])

src/drivers/spektrum_rc/Kconfig

@@ -1,5 +0,0 @@
-menuconfig DRIVERS_SPEKTRUM_RC
-	bool "spektrum_rc"
-	default n
-	---help---
-		Enable support for spektrum_rc