Port PX4 to BeagleBone Blue Board using library librobotcontrol instead of a submodule

src/drivers/linux_pwm_out/CMakeLists.txt

@@ -30,6 +30,7 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
 px4_add_module(
 	MODULE drivers__linux_pwm_out
 	MAIN linux_pwm_out
@@ -39,6 +40,7 @@ px4_add_module(
 		navio_sysfs.cpp
 		linux_pwm_out.cpp
 		ocpoc_mmap.cpp
+		bbblue_pwm_rc.cpp
 	DEPENDS
 		pwm_limit
 	)

src/drivers/linux_pwm_out/bbblue_pwm_rc.cpp

@@ -0,0 +1,82 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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.
+ *
+ ****************************************************************************/
+#ifdef __DF_BBBLUE
+
+#include <fcntl.h>
+#include <errno.h>
+#include <px4_log.h>
+
+#include <robotcontrol.h>
+#include <board_config.h>
+
+#include "bbblue_pwm_rc.h"
+
+using namespace linux_pwm_out;
+
+BBBlueRcPWMOut::BBBlueRcPWMOut(int max_num_outputs) : _num_outputs(max_num_outputs)
+{
+	if (_num_outputs > MAX_NUM_PWM) {
+		PX4_WARN("number of outputs too large. Setting to %i", MAX_NUM_PWM);
+		_num_outputs = MAX_NUM_PWM;
+	}
+}
+
+BBBlueRcPWMOut::~BBBlueRcPWMOut()
+{
+	rc_cleaning();
+}
+
+int BBBlueRcPWMOut::init()
+{
+	rc_init();
+
+	return 0;
+}
+
+int BBBlueRcPWMOut::send_output_pwm(const uint16_t *pwm, int num_outputs)
+{
+	if (num_outputs > _num_outputs) {
+		num_outputs = _num_outputs;
+	}
+
+	int ret = 0;
+
+	// pwm[ch] is duty_cycle in us
+	for (int ch = 0; ch < num_outputs; ++ch) {
+		ret += rc_servo_send_pulse_us(ch+1, pwm[ch]);  // converts to 1-based channel #
+	}
+
+	return ret;
+}
+
+#endif  // __DF_BBBLUE

src/drivers/linux_pwm_out/bbblue_pwm_rc.h

@@ -0,0 +1,65 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "common.h"
+
+namespace linux_pwm_out
+{
+
+/**
+ ** class BBBlueRcPWMOut
+ * PWM output class for BeagleBone Blue with Robotics Cape Library
+ *
+ * Ref: https://github.com/StrawsonDesign/Robotics_Cape_Installer
+ *      http://www.strawsondesign.com/#!manual-servos
+ */
+class BBBlueRcPWMOut : public PWMOutBase
+{
+public:
+	BBBlueRcPWMOut(int max_num_outputs);
+	virtual ~BBBlueRcPWMOut();
+
+	int init() override;
+
+	int send_output_pwm(const uint16_t *pwm, int num_outputs) override;
+
+private:
+	static const int MAX_NUM_PWM = 8;
+	static const int MIN_FREQUENCY_PWM = 40;
+
+	int _num_outputs;
+};
+
+}

src/drivers/linux_pwm_out/linux_pwm_out.cpp

@@ -58,6 +58,7 @@
 #include "navio_sysfs.h"
 #include "PCA9685.h"
 #include "ocpoc_mmap.h"
+#include "bbblue_pwm_rc.h"
 
 namespace linux_pwm_out
 {
@@ -233,6 +234,12 @@ void task_main(int argc, char *argv[])
 		PX4_INFO("Starting PWM output in ocpoc_mmap mode");
 		pwm_out = new OcpocMmapPWMOut(_max_num_outputs);
 
+#ifdef __DF_BBBLUE
+	} else if (strcmp(_protocol, "bbblue_rc") == 0) {
+		PX4_INFO("Starting PWM output in bbblue_rc mode");
+		pwm_out = new BBBlueRcPWMOut(_max_num_outputs);
+#endif
+
 	} else { /* navio */
 		PX4_INFO("Starting PWM output in Navio mode");
 		pwm_out = new NavioSysfsPWMOut(_device, _max_num_outputs);
@@ -493,7 +500,7 @@ void usage()
 	PX4_INFO("                       (default /sys/class/pwm/pwmchip0)");
 	PX4_INFO("       -m mixerfile : path to mixerfile");
 	PX4_INFO("                       (default ROMFS/px4fmu_common/mixers/quad_x.main.mix)");
-	PX4_INFO("       -p protocol : driver output protocol (navio|pca9685|ocpoc_mmap)");
+	PX4_INFO("       -p protocol : driver output protocol (navio|pca9685|ocpoc_mmap|bbblue_rc)");
 	PX4_INFO("                       (default is navio)");
 	PX4_INFO("       -n num_outputs : maximum number of outputs the driver should use");
 	PX4_INFO("                       (default is 8)");