RC input and PWM output for Navio2

src/modules/commander/PreflightCheck.cpp

@@ -391,6 +391,9 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkMag, bool checkAcc,
 	// all the sensors are supported
 	PX4_WARN("Preflight checks always pass on Snapdragon.");
 	return true;
+#elif defined(__LINUX)
+	PX4_WARN("Preflight checks always pass on Linux (RPI).");
+	return true;
 #endif
 
 	bool failed = false;

src/modules/mavlink/mavlink_main.cpp

@@ -863,6 +863,9 @@ Mavlink::get_free_tx_buf()
 		// No FIONWRITE on Linux
 #if !defined(__PX4_LINUX) && !defined(__PX4_DARWIN)
 		(void) ioctl(_uart_fd, FIONWRITE, (unsigned long)&buf_free);
+#else
+        //Linux cp210x does not support TIOCOUTQ
+        buf_free = 256;
 #endif
 
 		if (get_flow_control_enabled() && buf_free < FLOW_CONTROL_DISABLE_THRESHOLD) {

src/modules/rcinput/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2016 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.
+#
+############################################################################
+px4_add_module(
+	MODULE modules__rcinput
+	MAIN rcinput
+	STACK_MAIN 1200
+	COMPILE_FLAGS -Os
+	SRCS
+		rcinput.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/modules/rcinput/rcinput.cpp

@@ -0,0 +1,297 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *   Copyright (C) 2016 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.
+ *
+ ****************************************************************************/
+
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include <stdint.h>
+
+#include <px4_config.h>
+#include <px4_workqueue.h>
+#include <px4_defines.h>
+
+#include <drivers/drv_hrt.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/input_rc.h>
+
+namespace rcinput
+{
+
+extern "C" __EXPORT int rcinput_main(int argc, char *argv[]);
+
+#define RCINPUT_DEVICE_PATH_BASE "/sys/kernel/rcio/rcin"
+
+#define RCINPUT_MEASURE_INTERVAL_US 20000 // microseconds
+
+
+class RcInput
+{
+public:
+	RcInput() :
+        _shouldExit(false),
+        _isRunning(false),
+        _work{},
+        _rcinput_pub(nullptr),
+        _channels(8), //D8R-II plus
+        _data{}
+    {
+        memset(_ch_fd, 0, sizeof(_ch_fd));
+    }
+    ~RcInput()
+    {
+        work_cancel(HPWORK, &_work);
+        _isRunning = false;
+    }
+
+	/* @return 0 on success, -errno on failure */
+	int start();
+
+	/* @return 0 on success, -errno on failure */
+	void stop();
+
+	/* Trampoline for the work queue. */
+	static void cycle_trampoline(void *arg);
+
+    bool isRunning() { return _isRunning; }
+
+private:
+    void _cycle();
+    void _measure();
+
+    bool _shouldExit;
+    bool _isRunning;
+    struct work_s _work;
+
+    orb_advert_t _rcinput_pub;
+
+    int _channels;
+    int _ch_fd[input_rc_s::RC_INPUT_MAX_CHANNELS];
+    struct input_rc_s _data;
+
+	int navio_rc_init();
+};
+
+int RcInput::navio_rc_init()
+{
+    int i;
+    char *buf;
+
+    for (i = 0; i < _channels; ++i) {
+        ::asprintf(&buf, "%s/ch%d", RCINPUT_DEVICE_PATH_BASE, i);
+        int fd = ::open(buf, O_RDONLY);
+        ::free(buf);
+        if (fd < 0) {
+            PX4_WARN("error: open %d failed", i);
+            break;
+        }
+        _ch_fd[i] = fd;
+    }
+    for (; i < input_rc_s::RC_INPUT_MAX_CHANNELS; ++i) {
+        _data.values[i] = UINT16_MAX;
+    }
+
+    _rcinput_pub = orb_advertise(ORB_ID(input_rc), &_data);
+    if (_rcinput_pub == nullptr) {
+        PX4_WARN("error: advertise failed");
+        return -1;
+    }
+
+	return 0;
+}
+
+int RcInput::start()
+{
+	int result = 0;
+
+	result = navio_rc_init();
+
+	if (result != 0) {
+		PX4_WARN("error: RC initialization failed");
+        return -1;
+	}
+
+    _isRunning = true;
+	result = work_queue(HPWORK, &_work, (worker_t)&RcInput::cycle_trampoline, this, 0);
+    if (result == -1) {
+        _isRunning = false;
+    }
+
+    return result;
+}
+
+void RcInput::stop()
+{
+    _shouldExit = true;
+}
+
+void RcInput::cycle_trampoline(void *arg)
+{
+    RcInput *dev = reinterpret_cast<RcInput *>(arg);
+    dev->_cycle();
+}
+
+void RcInput::_cycle()
+{
+    _measure();
+
+    if (!_shouldExit) {
+        work_queue(HPWORK, &_work, (worker_t)&RcInput::cycle_trampoline, this,
+                   USEC2TICK(RCINPUT_MEASURE_INTERVAL_US));
+    }
+}
+
+void RcInput::_measure(void)
+{
+    uint64_t ts;
+    char buf[12];
+
+    for (int i = 0; i < _channels; ++i) {
+        int res;
+        if ((res = ::pread(_ch_fd[i], buf, sizeof(buf) - 1, 0)) < 0) {
+            _data.values[i] = UINT16_MAX;
+            continue;
+        }
+        buf[sizeof(buf) -1] = '\0';
+
+        _data.values[i] = atoi(buf);
+    }
+
+    ts = hrt_absolute_time();
+    _data.timestamp_publication = ts;
+    _data.timestamp_last_signal = ts;
+    _data.channel_count = _channels;
+    _data.rssi = 100;
+    _data.rc_lost_frame_count = 0;
+    _data.rc_total_frame_count = 1;
+    _data.rc_ppm_frame_length = 100;
+    _data.rc_failsafe = false;
+    _data.rc_lost = false;
+    _data.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_PPM;
+
+	orb_publish(ORB_ID(input_rc), _rcinput_pub, &_data);
+}
+
+/**
+ * Print the correct usage.
+ */
+static void usage(const char *reason);
+
+static void
+usage(const char *reason)
+{
+	if (reason) {
+		PX4_ERR("%s", reason);
+	}
+
+	PX4_INFO("usage: rcinput {start|stop|status}");
+}
+
+static RcInput *rc_input = nullptr;
+
+int rcinput_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		usage("missing command");
+		return 1;
+	}
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (rc_input != nullptr && rc_input->isRunning()) {
+			PX4_WARN("already running");
+			/* this is not an error */
+			return 0;
+		}
+
+		rc_input = new RcInput();
+
+		// Check if alloc worked.
+		if (rc_input == nullptr) {
+			PX4_ERR("alloc failed");
+			return -1;
+		}
+
+		int ret = rc_input->start();
+
+		if (ret != 0) {
+			PX4_ERR("start failed");
+		}
+
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+
+		if (rc_input == nullptr || rc_input->isRunning()) {
+			PX4_WARN("not running");
+			/* this is not an error */
+			return 0;
+		}
+
+		rc_input->stop();
+
+		// Wait for task to die
+		int i = 0;
+
+		do {
+			/* wait up to 3s */
+			usleep(100000);
+
+		} while (rc_input->isRunning() && ++i < 30);
+
+		delete rc_input;
+		rc_input = nullptr;
+
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (rc_input != nullptr && rc_input->isRunning()) {
+			PX4_INFO("running");
+
+		} else {
+			PX4_INFO("not running\n");
+		}
+
+		return 0;
+	}
+
+	usage("unrecognized command");
+	return 1;
+
+}
+
+}; // namespace rcinput