IO firmware: Depend on external RC lib

src/modules/px4iofirmware/CMakeLists.txt

@@ -64,6 +64,7 @@ px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags}" GLUE " ")
 include_directories(
 	${include_dirs}
 	${CMAKE_BINARY_DIR}/src/modules/systemlib/mixer
+	.
 	)
 link_directories(${link_dirs})
 add_definitions(${definitions})
@@ -71,11 +72,9 @@ add_definitions(${definitions})
 set(srcs
 	adc.c
 	controls.c
-	dsm.c
 	px4io.c
 	registers.c
 	safety.c
-	sbus.c
 	../systemlib/up_cxxinitialize.c
 	../systemlib/perf_counter.c
 	mixer.cpp
@@ -86,6 +85,8 @@ set(srcs
 	../systemlib/pwm_limit/pwm_limit.c
 	../../lib/rc/st24.c
 	../../lib/rc/sumd.c
+	../../lib/rc/sbus.c
+	../../lib/rc/dsm.c
 	../../drivers/stm32/drv_hrt.c
 	../../drivers/stm32/drv_pwm_servo.c
 	../../drivers/boards/${config_io_board}/px4io_init.c

src/modules/px4iofirmware/controls.c

@@ -46,6 +46,8 @@
 #include <systemlib/ppm_decode.h>
 #include <rc/st24.h>
 #include <rc/sumd.h>
+#include <rc/sbus.h>
+#include <rc/dsm.h>
 
 #include "px4io.h"
 
@@ -60,7 +62,8 @@ static perf_counter_t c_gather_dsm;
 static perf_counter_t c_gather_sbus;
 static perf_counter_t c_gather_ppm;
 
-static int _dsm_fd;
+static int _dsm_fd = -1;
+int _sbus_fd = -1;
 
 static uint16_t rc_value_override = 0;
 
@@ -158,7 +161,7 @@ controls_init(void)
 	_dsm_fd = dsm_init("/dev/ttyS0");
 
 	/* S.bus input (USART3) */
-	sbus_init("/dev/ttyS2");
+	_sbus_fd = sbus_init("/dev/ttyS2", false);
 
 	/* default to a 1:1 input map, all enabled */
 	for (unsigned i = 0; i < PX4IO_RC_INPUT_CHANNELS; i++) {
@@ -240,7 +243,7 @@ controls_tick()
 	perf_begin(c_gather_sbus);
 
 	bool sbus_failsafe, sbus_frame_drop;
-	bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &sbus_failsafe, &sbus_frame_drop,
+	bool sbus_updated = sbus_input(_sbus_fd, r_raw_rc_values, &r_raw_rc_count, &sbus_failsafe, &sbus_frame_drop,
 				       PX4IO_RC_INPUT_CHANNELS);
 
 	if (sbus_updated) {

src/modules/px4iofirmware/mixer.cpp

@@ -48,6 +48,7 @@
 
 #include <drivers/drv_pwm_output.h>
 #include <drivers/drv_hrt.h>
+#include <rc/sbus.h>
 
 #include <systemlib/pwm_limit/pwm_limit.h>
 #include <systemlib/mixer/mixer.h>
@@ -71,6 +72,8 @@ static bool should_arm_nothrottle = false;
 static bool should_always_enable_pwm = false;
 static volatile bool in_mixer = false;
 
+extern int _sbus_fd;
+
 /* selected control values and count for mixing */
 enum mixer_source {
 	MIX_NONE,
@@ -292,10 +295,10 @@ mixer_tick(void)
 		/* set S.BUS1 or S.BUS2 outputs */
 
 		if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) {
-			sbus2_output(r_page_servos, PX4IO_SERVO_COUNT);
+			sbus2_output(_sbus_fd, r_page_servos, PX4IO_SERVO_COUNT);
 
 		} else if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) {
-			sbus1_output(r_page_servos, PX4IO_SERVO_COUNT);
+			sbus1_output(_sbus_fd, r_page_servos, PX4IO_SERVO_COUNT);
 		}
 
 	} else if (mixer_servos_armed && should_always_enable_pwm) {
@@ -306,11 +309,11 @@ mixer_tick(void)
 
 		/* set S.BUS1 or S.BUS2 outputs */
 		if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) {
-			sbus1_output(r_page_servo_disarmed, PX4IO_SERVO_COUNT);
+			sbus1_output(_sbus_fd, r_page_servo_disarmed, PX4IO_SERVO_COUNT);
 		}
 
 		if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) {
-			sbus2_output(r_page_servo_disarmed, PX4IO_SERVO_COUNT);
+			sbus2_output(_sbus_fd, r_page_servo_disarmed, PX4IO_SERVO_COUNT);
 		}
 	}
 }

src/modules/px4iofirmware/px4io.h

@@ -224,14 +224,6 @@ extern uint16_t	adc_measure(unsigned channel);
  */
 extern void	controls_init(void);
 extern void	controls_tick(void);
-extern int	dsm_init(const char *device);
-extern bool	dsm_input(uint16_t *values, uint16_t *num_values, uint8_t *n_bytes, uint8_t **bytes);
-extern void	dsm_bind(uint16_t cmd, int pulses);
-extern int	sbus_init(const char *device);
-extern bool	sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop,
-			   uint16_t max_channels);
-extern void	sbus1_output(uint16_t *values, uint16_t num_values);
-extern void	sbus2_output(uint16_t *values, uint16_t num_values);
 
 /** global debug level for isr_debug() */
 extern volatile uint8_t debug_level;

src/modules/px4iofirmware/registers.c

@@ -47,6 +47,7 @@
 #include <drivers/drv_pwm_output.h>
 #include <systemlib/systemlib.h>
 #include <stm32_pwr.h>
+#include <rc/dsm.h>
 
 #include "px4io.h"
 #include "protocol.h"