Merged master

src/drivers/ardrone_interface/ardrone_motor_control.c

@@ -109,7 +109,7 @@ int ar_multiplexing_init()
 {
 	int		fd;
 	
-	fd = open(GPIO_DEVICE_PATH, 0);
+	fd = open(PX4FMU_DEVICE_PATH, 0);
 
 	if (fd < 0) {
 		warn("GPIO: open fail");

src/drivers/drv_gpio.h

@@ -63,43 +63,12 @@
  * they also export GPIO-like things.  This is always the GPIOs on the
  * main board.
  */
-# define GPIO_DEVICE_PATH	"/dev/px4fmu"
+# define PX4FMU_DEVICE_PATH	"/dev/px4fmu"
+# define PX4IO_DEVICE_PATH	"/dev/px4io"
 
 #endif
 
-#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
-/*
- * PX4IO GPIO numbers.
- *
- * XXX note that these are here for reference/future use; currently
- * there is no good way to wire these up without a common STM32 GPIO
- * driver, which isn't implemented yet.
- */
-/* outputs */
-# define GPIO_ACC1_POWER	(1<<0)		/**< accessory power 1 */
-# define GPIO_ACC2_POWER	(1<<1)		/**< accessory power 2 */
-# define GPIO_SERVO_POWER	(1<<2)		/**< servo power */
-# define GPIO_RELAY1		(1<<3)		/**< relay 1 */
-# define GPIO_RELAY2		(1<<4)		/**< relay 2 */
-# define GPIO_LED_BLUE		(1<<5)		/**< blue LED */
-# define GPIO_LED_AMBER		(1<<6)		/**< amber/red LED */
-# define GPIO_LED_SAFETY	(1<<7)		/**< safety LED */
-
-/* inputs */
-# define GPIO_ACC_OVERCURRENT	(1<<8)		/**< accessory 1/2 overcurrent detect */
-# define GPIO_SERVO_OVERCURRENT	(1<<9)		/**< servo overcurrent detect */
-# define GPIO_SAFETY_BUTTON	(1<<10)		/**< safety button pressed */
-
-/**
- * Default GPIO device - other devices may also support this protocol if
- * they also export GPIO-like things.  This is always the GPIOs on the
- * main board.
- */
-# define GPIO_DEVICE_PATH	"/dev/px4io"
-
-#endif
-
-#ifndef GPIO_DEVICE_PATH
+#ifndef PX4IO_DEVICE_PATH
 #  error No GPIO support for this board.
 #endif
 

src/drivers/drv_pwm_output.h

@@ -115,6 +115,15 @@ ORB_DECLARE(output_pwm);
 /** clear the 'ARM ok' bit, which deactivates the safety switch */
 #define PWM_SERVO_CLEAR_ARM_OK	_IOC(_PWM_SERVO_BASE, 6)
 
+/** start DSM bind */
+#define DSM_BIND_START	_IOC(_PWM_SERVO_BASE, 7)
+
+/** stop DSM bind */
+#define DSM_BIND_STOP	_IOC(_PWM_SERVO_BASE, 8)
+
+/** Power up DSM receiver */
+#define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 9)
+
 /** set a single servo to a specific value */
 #define PWM_SERVO_SET(_servo)	_IOC(_PWM_SERVO_BASE, 0x20 + _servo)
 

src/drivers/gps/ubx.h

@@ -3,6 +3,7 @@
  *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
  *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
  *           Julian Oes <joes@student.ethz.ch>
+ *           Anton Babushkin <anton.babushkin@me.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -51,23 +52,23 @@
 
 /* MessageIDs (the ones that are used) */
 #define UBX_MESSAGE_NAV_POSLLH 0x02
-#define UBX_MESSAGE_NAV_SOL 0x06
-#define UBX_MESSAGE_NAV_TIMEUTC 0x21
 //#define UBX_MESSAGE_NAV_DOP 0x04
-#define UBX_MESSAGE_NAV_SVINFO 0x30
+#define UBX_MESSAGE_NAV_SOL 0x06
 #define UBX_MESSAGE_NAV_VELNED 0x12
 //#define UBX_MESSAGE_RXM_SVSI 0x20
-#define UBX_MESSAGE_ACK_ACK 0x01
+#define UBX_MESSAGE_NAV_TIMEUTC 0x21
+#define UBX_MESSAGE_NAV_SVINFO 0x30
 #define UBX_MESSAGE_ACK_NAK 0x00
+#define UBX_MESSAGE_ACK_ACK 0x01
 #define UBX_MESSAGE_CFG_PRT 0x00
-#define UBX_MESSAGE_CFG_NAV5 0x24
 #define UBX_MESSAGE_CFG_MSG 0x01
 #define UBX_MESSAGE_CFG_RATE 0x08
+#define UBX_MESSAGE_CFG_NAV5 0x24
 
 #define UBX_CFG_PRT_LENGTH 20
 #define UBX_CFG_PRT_PAYLOAD_PORTID 0x01			/**< UART1 */
 #define UBX_CFG_PRT_PAYLOAD_MODE 0x000008D0		/**< 0b0000100011010000: 8N1 */
-#define UBX_CFG_PRT_PAYLOAD_BAUDRATE 38400		/**< always choose 38400 as GPS baudrate */
+#define UBX_CFG_PRT_PAYLOAD_BAUDRATE 38400		/**< choose 38400 as GPS baudrate */
 #define UBX_CFG_PRT_PAYLOAD_INPROTOMASK 0x01		/**< UBX in */
 #define UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK 0x01		/**< UBX out */
 
@@ -298,44 +299,6 @@ struct ubx_cfg_msg_rate {
 // END the structures of the binary packets
 // ************
 
-typedef enum {
-	UBX_CONFIG_STATE_PRT = 0,
-	UBX_CONFIG_STATE_PRT_NEW_BAUDRATE,
-	UBX_CONFIG_STATE_RATE,
-	UBX_CONFIG_STATE_NAV5,
-	UBX_CONFIG_STATE_MSG_NAV_POSLLH,
-	UBX_CONFIG_STATE_MSG_NAV_TIMEUTC,
-	UBX_CONFIG_STATE_MSG_NAV_DOP,
-	UBX_CONFIG_STATE_MSG_NAV_SVINFO,
-	UBX_CONFIG_STATE_MSG_NAV_SOL,
-	UBX_CONFIG_STATE_MSG_NAV_VELNED,
-//	UBX_CONFIG_STATE_MSG_RXM_SVSI,
-	UBX_CONFIG_STATE_CONFIGURED
-} ubx_config_state_t;
-
-typedef enum {
-	CLASS_UNKNOWN = 0,
-	NAV = 1,
-	RXM = 2,
-	ACK = 3,
-	CFG = 4
-} ubx_message_class_t;
-
-typedef enum {
-	//these numbers do NOT correspond to the message id numbers of the ubx protocol
-	ID_UNKNOWN = 0,
-	NAV_POSLLH,
-	NAV_SOL,
-	NAV_TIMEUTC,
-//	NAV_DOP,
-	NAV_SVINFO,
-	NAV_VELNED,
-//	RXM_SVSI,
-	CFG_NAV5,
-	ACK_ACK,
-	ACK_NAK,
-} ubx_message_id_t;
-
 typedef enum {
 	UBX_DECODE_UNINIT = 0,
 	UBX_DECODE_GOT_SYNC1,
@@ -401,17 +364,17 @@ private:
 
 	int			_fd;
 	struct vehicle_gps_position_s *_gps_position;
-	ubx_config_state_t	_config_state;
+	bool			_configured;
 	bool			_waiting_for_ack;
-	uint8_t			_clsID_needed;
-	uint8_t			_msgID_needed;
+	uint8_t			_message_class_needed;
+	uint8_t			_message_id_needed;
 	ubx_decode_state_t	_decode_state;
 	uint8_t			_rx_buffer[RECV_BUFFER_SIZE];
 	unsigned		_rx_count;
 	uint8_t			_rx_ck_a;
 	uint8_t			_rx_ck_b;
-	ubx_message_class_t	_message_class;
-	ubx_message_id_t	_message_id;
+	uint8_t			_message_class;
+	uint8_t			_message_id;
 	unsigned		_payload_size;
 	uint8_t			_disable_cmd_counter;
 };

src/drivers/hott/comms.cpp

@@ -0,0 +1,92 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 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 comms.c
+ * @author Simon Wilks <sjwilks@gmail.com>
+ *
+ */
+
+#include "comms.h"
+
+#include <fcntl.h>
+#include <stdio.h>
+#include <sys/ioctl.h>
+#include <systemlib/err.h>
+#include <termios.h>
+
+int
+open_uart(const char *device)
+{
+	/* baud rate */
+	static const speed_t speed = B19200;
+
+	/* open uart */
+	const int uart = open(device, O_RDWR | O_NOCTTY);
+
+	if (uart < 0) {
+		err(1, "Error opening port: %s", device);
+	}
+	
+	/* Back up the original uart configuration to restore it after exit */	
+	int termios_state;
+	struct termios uart_config_original;
+	if ((termios_state = tcgetattr(uart, &uart_config_original)) < 0) {
+		close(uart);
+		err(1, "Error getting baudrate / termios config for %s: %d", device, termios_state);
+	}
+
+	/* Fill the struct for the new configuration */
+	struct termios uart_config;
+	tcgetattr(uart, &uart_config);
+
+	/* Clear ONLCR flag (which appends a CR for every LF) */
+	uart_config.c_oflag &= ~ONLCR;
+
+	/* Set baud rate */
+	if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
+		close(uart);
+		err(1, "Error setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)",
+			 device, termios_state);
+	}
+
+	if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
+		close(uart);
+		err(1, "Error setting baudrate / termios config for %s (tcsetattr)", device);
+	}
+
+	/* Activate single wire mode */
+	ioctl(uart, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
+
+	return uart;
+}

src/drivers/hott/comms.h

@@ -0,0 +1,46 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 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 comms.h
+ * @author Simon Wilks <sjwilks@gmail.com>
+ *
+ */
+
+
+#ifndef COMMS_H_
+#define COMMS_H
+
+int open_uart(const char *device);
+
+#endif /* COMMS_H_ */

src/drivers/hott/hott_sensors/hott_sensors.cpp

@@ -0,0 +1,238 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Author: Simon Wilks <sjwilks@gmail.com>
+ *
+ * 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 hott_sensors.c
+ * @author Simon Wilks <sjwilks@gmail.com>
+ *
+ * Graupner HoTT sensor driver implementation.
+ *
+ * Poll any sensors connected to the PX4 via the telemetry wire.
+ */
+
+#include <fcntl.h>
+#include <nuttx/config.h>
+#include <poll.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
+#include <systemlib/err.h>
+#include <systemlib/systemlib.h>
+
+#include "../comms.h"
+#include "../messages.h"
+
+#define DEFAULT_UART "/dev/ttyS0";		/**< USART1 */
+
+/* Oddly, ERROR is not defined for C++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
+
+static int thread_should_exit = false;		/**< Deamon exit flag */
+static int thread_running = false;		/**< Deamon status flag */
+static int deamon_task;				/**< Handle of deamon task / thread */
+static const char daemon_name[] = "hott_sensors";
+static const char commandline_usage[] = "usage: hott_sensors start|status|stop [-d <device>]";
+
+/**
+ * Deamon management function.
+ */
+extern "C" __EXPORT int hott_sensors_main(int argc, char *argv[]);
+
+/**
+ * Mainloop of daemon.
+ */
+int hott_sensors_thread_main(int argc, char *argv[]);
+
+static int recv_data(int uart, uint8_t *buffer, size_t *size, uint8_t *id);
+static int send_poll(int uart, uint8_t *buffer, size_t size);
+
+int
+send_poll(int uart, uint8_t *buffer, size_t size)
+{
+	for (size_t i = 0; i < size; i++) {
+		write(uart, &buffer[i], sizeof(buffer[i]));
+
+		/* Sleep before sending the next byte. */
+		usleep(POST_WRITE_DELAY_IN_USECS);
+	}
+
+	/* A hack the reads out what was written so the next read from the receiver doesn't get it. */
+	/* TODO: Fix this!! */
+	uint8_t dummy[size];
+	read(uart, &dummy, size);
+
+	return OK;
+}
+
+int
+recv_data(int uart, uint8_t *buffer, size_t *size, uint8_t *id)
+{
+	static const int timeout_ms = 1000;
+	
+	struct pollfd fds;
+	fds.fd = uart;
+	fds.events = POLLIN;
+	
+	// XXX should this poll be inside the while loop???
+	if (poll(&fds, 1, timeout_ms) > 0) {
+		int i = 0;
+		bool stop_byte_read = false;
+		while (true)  {
+			read(uart, &buffer[i], sizeof(buffer[i]));
+
+			if (stop_byte_read) {
+				// XXX process checksum
+				*size = ++i;
+				return OK;
+			}
+			// XXX can some other field not have the STOP BYTE value?
+			if (buffer[i] == STOP_BYTE) {
+				*id = buffer[1];
+				stop_byte_read = true;
+			}
+			i++;
+		}
+	}
+	return ERROR;
+}
+
+int
+hott_sensors_thread_main(int argc, char *argv[])
+{
+	warnx("starting");
+
+	thread_running = true;
+
+	const char *device = DEFAULT_UART;
+
+	/* read commandline arguments */
+	for (int i = 0; i < argc && argv[i]; i++) {
+		if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //device set
+			if (argc > i + 1) {
+				device = argv[i + 1];
+
+			} else {
+				thread_running = false;
+				errx(1, "missing parameter to -d\n%s", commandline_usage);
+			}
+		}
+	}
+
+	/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */
+	const int uart = open_uart(device);
+	if (uart < 0) {
+		errx(1, "Failed opening HoTT UART, exiting.");
+		thread_running = false;
+	}
+
+	init_pub_messages();
+
+	uint8_t buffer[MAX_MESSAGE_BUFFER_SIZE];
+	size_t size = 0;
+	uint8_t id = 0;
+	while (!thread_should_exit) {
+		// Currently we only support a General Air Module sensor.
+		build_gam_request(&buffer[0], &size);
+		send_poll(uart, buffer, size);
+
+		// The sensor will need a little time before it starts sending.
+		usleep(5000);
+
+		recv_data(uart, &buffer[0], &size, &id);
+
+		// Determine which moduel sent it and process accordingly.
+		if (id == GAM_SENSOR_ID) {
+			publish_gam_message(buffer);
+		} else {
+			warnx("Unknown sensor ID: %d", id);
+		}
+	}
+
+	warnx("exiting");
+	close(uart);
+	thread_running = false;
+
+	return 0;
+}
+
+/**
+ * Process command line arguments and start the daemon.
+ */
+int
+hott_sensors_main(int argc, char *argv[])
+{
+	if (argc < 1) {
+		errx(1, "missing command\n%s", commandline_usage);
+	}
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			warnx("deamon already running");
+			exit(0);
+		}
+
+		thread_should_exit = false;
+		deamon_task = task_spawn_cmd(daemon_name,
+					     SCHED_DEFAULT,
+					     SCHED_PRIORITY_MAX - 40,
+					     1024,
+					     hott_sensors_thread_main,
+					     (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		thread_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			warnx("daemon is running");
+
+		} else {
+			warnx("daemon not started");
+		}
+
+		exit(0);
+	}
+
+	errx(1, "unrecognized command\n%s", commandline_usage);
+}

src/drivers/hott/hott_sensors/module.mk

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 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.
+#
+############################################################################
+
+#
+# Graupner HoTT Sensors application.
+#
+
+MODULE_COMMAND	= hott_sensors
+
+SRCS		= hott_sensors.cpp \
+		  ../messages.cpp \
+		  ../comms.cpp

src/drivers/hott/hott_telemetry/hott_telemetry.cpp

@@ -41,7 +41,6 @@
  * The HoTT receiver polls each device at a regular interval at which point
  * a data packet can be returned if necessary.
  *
- * TODO: Add support for at least the vario and GPS sensor data.
  */
 
 #include <fcntl.h>
@@ -50,13 +49,21 @@
 #include <stdlib.h>
 #include <stdio.h>
 #include <string.h>
-#include <termios.h>
 #include <sys/ioctl.h>
 #include <unistd.h>
 #include <systemlib/err.h>
 #include <systemlib/systemlib.h>
 
-#include "messages.h"
+#include "../comms.h"
+#include "../messages.h"
+
+#define DEFAULT_UART "/dev/ttyS0";		/**< USART1 */
+
+/* Oddly, ERROR is not defined for C++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
 
 static int thread_should_exit = false;		/**< Deamon exit flag */
 static int thread_running = false;		/**< Deamon status flag */
@@ -67,7 +74,7 @@ static const char commandline_usage[] = "usage: hott_telemetry start|status|stop
 /**
  * Deamon management function.
  */
-__EXPORT int hott_telemetry_main(int argc, char *argv[]);
+extern "C" __EXPORT int hott_telemetry_main(int argc, char *argv[]);
 
 /**
  * Mainloop of daemon.
@@ -77,60 +84,18 @@ int hott_telemetry_thread_main(int argc, char *argv[]);
 static int recv_req_id(int uart, uint8_t *id);
 static int send_data(int uart, uint8_t *buffer, size_t size);
 
-static int
-open_uart(const char *device, struct termios *uart_config_original)
-{
-	/* baud rate */
-	static const speed_t speed = B19200;
-
-	/* open uart */
-	const int uart = open(device, O_RDWR | O_NOCTTY);
-
-	if (uart < 0) {
-		err(1, "Error opening port: %s", device);
-	}
-	
-	/* Back up the original uart configuration to restore it after exit */	
-	int termios_state;
-	if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
-		close(uart);
-		err(1, "Error getting baudrate / termios config for %s: %d", device, termios_state);
-	}
-
-	/* Fill the struct for the new configuration */
-	struct termios uart_config;
-	tcgetattr(uart, &uart_config);
-
-	/* Clear ONLCR flag (which appends a CR for every LF) */
-	uart_config.c_oflag &= ~ONLCR;
-
-	/* Set baud rate */
-	if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
-		close(uart);
-		err(1, "Error setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)",
-			 device, termios_state);
-	}
-
-	if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
-		close(uart);
-		err(1, "Error setting baudrate / termios config for %s (tcsetattr)", device);
-	}
-
-	/* Activate single wire mode */
-	ioctl(uart, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
-
-	return uart;
-}
-
 int
 recv_req_id(int uart, uint8_t *id)
 {
 	static const int timeout_ms = 1000;  // TODO make it a define
-	struct pollfd fds[] = { { .fd = uart, .events = POLLIN } };
 
 	uint8_t mode;
+	
+	struct pollfd fds;
+	fds.fd = uart;
+	fds.events = POLLIN;
 
-	if (poll(fds, 1, timeout_ms) > 0) {
+	if (poll(&fds, 1, timeout_ms) > 0) {
 		/* Get the mode: binary or text  */
 		read(uart, &mode, sizeof(mode));
 
@@ -155,7 +120,6 @@ send_data(int uart, uint8_t *buffer, size_t size)
 	usleep(POST_READ_DELAY_IN_USECS);
 
 	uint16_t checksum = 0;
-
 	for (size_t i = 0; i < size; i++) {
 		if (i == size - 1) {
 			/* Set the checksum: the first uint8_t is taken as the checksum. */
@@ -186,7 +150,7 @@ hott_telemetry_thread_main(int argc, char *argv[])
 
 	thread_running = true;
 
-	const char *device = "/dev/ttyS1";		/**< Default telemetry port: USART2 */
+	const char *device = DEFAULT_UART;
 
 	/* read commandline arguments */
 	for (int i = 0; i < argc && argv[i]; i++) {
@@ -202,22 +166,20 @@ hott_telemetry_thread_main(int argc, char *argv[])
 	}
 
 	/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */
-	struct termios uart_config_original;
-	const int uart = open_uart(device, &uart_config_original);
-
+	const int uart = open_uart(device);
 	if (uart < 0) {
 		errx(1, "Failed opening HoTT UART, exiting.");
 		thread_running = false;
 	}
 
-	messages_init();
+	init_sub_messages();
 
-	uint8_t buffer[MESSAGE_BUFFER_SIZE];
+	uint8_t buffer[MAX_MESSAGE_BUFFER_SIZE];
 	size_t size = 0;
 	uint8_t id = 0;
 	bool connected = true;
-
 	while (!thread_should_exit) {
+		// Listen for and serve poll from the receiver.
 		if (recv_req_id(uart, &id) == OK) {
 			if (!connected) {
 				connected = true;
@@ -228,7 +190,9 @@ hott_telemetry_thread_main(int argc, char *argv[])
 			case EAM_SENSOR_ID:
 				build_eam_response(buffer, &size);
 				break;
-
+			case GAM_SENSOR_ID:
+				build_gam_response(buffer, &size);
+				break;
 			case GPS_SENSOR_ID:
 				build_gps_response(buffer, &size);
 				break;
@@ -254,7 +218,7 @@ hott_telemetry_thread_main(int argc, char *argv[])
 }
 
 /**
- * Process command line arguments and tart the daemon.
+ * Process command line arguments and start the daemon.
  */
 int
 hott_telemetry_main(int argc, char *argv[])

src/drivers/hott/hott_telemetry/module.mk

@@ -32,10 +32,11 @@
 ############################################################################
 
 #
-# Graupner HoTT Telemetry application.
+# Graupner HoTT Telemetry applications.
 #
 
 MODULE_COMMAND	= hott_telemetry
 
-SRCS		= hott_telemetry_main.c \
-		  messages.c
+SRCS		= hott_telemetry.cpp \
+		  ../messages.cpp \
+		  ../comms.cpp

src/drivers/hott/messages.cpp

@@ -46,6 +46,7 @@
 #include <unistd.h>
 #include <uORB/topics/airspeed.h>
 #include <uORB/topics/battery_status.h>
+#include <uORB/topics/esc_status.h>
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/vehicle_gps_position.h>
@@ -53,24 +54,75 @@
 /* The board is very roughly 5 deg warmer than the surrounding air */
 #define BOARD_TEMP_OFFSET_DEG 5
 
-static int battery_sub = -1;
-static int gps_sub = -1;
-static int home_sub = -1;
-static int sensor_sub = -1;
-static int airspeed_sub = -1;
+static int _battery_sub = -1;
+static int _gps_sub = -1;
+static int _home_sub = -1;
+static int _sensor_sub = -1;
+static int _airspeed_sub = -1;
+static int _esc_sub = -1;
 
-static bool home_position_set = false;
-static double home_lat = 0.0d;
-static double home_lon = 0.0d;
+static orb_advert_t _esc_pub;
+struct esc_status_s _esc;
+
+static bool _home_position_set = false;
+static double _home_lat = 0.0d;
+static double _home_lon = 0.0d;
 
 void 
-messages_init(void)
+init_sub_messages(void)
 {
-	battery_sub = orb_subscribe(ORB_ID(battery_status));
-	gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
-	home_sub = orb_subscribe(ORB_ID(home_position));
-	sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
-	airspeed_sub = orb_subscribe(ORB_ID(airspeed));
+	_battery_sub = orb_subscribe(ORB_ID(battery_status));
+	_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
+	_home_sub = orb_subscribe(ORB_ID(home_position));
+	_sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
+	_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
+	_esc_sub = orb_subscribe(ORB_ID(esc_status));
+}
+
+void 
+init_pub_messages(void)
+{
+	memset(&_esc, 0, sizeof(_esc));
+	_esc_pub = orb_advertise(ORB_ID(esc_status), &_esc);
+}
+
+void
+build_gam_request(uint8_t *buffer, size_t *size)
+{
+	struct gam_module_poll_msg msg;
+	*size = sizeof(msg);
+	memset(&msg, 0, *size);
+
+	msg.mode = BINARY_MODE_REQUEST_ID;
+	msg.id = GAM_SENSOR_ID;
+
+	memcpy(buffer, &msg, *size);
+}
+
+void
+publish_gam_message(const uint8_t *buffer)
+{
+	struct gam_module_msg msg;
+	size_t size = sizeof(msg);
+	memset(&msg, 0, size);
+	memcpy(&msg, buffer, size);
+
+	/* announce the esc if needed, just publish else */
+	if (_esc_pub > 0) {
+		orb_publish(ORB_ID(esc_status), _esc_pub, &_esc);
+	} else {
+		_esc_pub = orb_advertise(ORB_ID(esc_status), &_esc);
+	}
+
+	// Publish it.
+	_esc.esc_count = 1;
+	_esc.esc_connectiontype = ESC_CONNECTION_TYPE_PPM;
+
+	_esc.esc[0].esc_vendor = ESC_VENDOR_GRAUPNER_HOTT;
+	_esc.esc[0].esc_rpm = (uint16_t)((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10;
+	_esc.esc[0].esc_temperature = msg.temperature1 - 20; 
+	_esc.esc[0].esc_voltage = (uint16_t)((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff));
+	_esc.esc[0].esc_current = (uint16_t)((msg.current_H << 8) | (msg.current_L & 0xff));
 }
 
 void 
@@ -79,12 +131,12 @@ build_eam_response(uint8_t *buffer, size_t *size)
 	/* get a local copy of the current sensor values */
 	struct sensor_combined_s raw;
 	memset(&raw, 0, sizeof(raw));
-	orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
+	orb_copy(ORB_ID(sensor_combined), _sensor_sub, &raw);
 
 	/* get a local copy of the battery data */
 	struct battery_status_s battery;
 	memset(&battery, 0, sizeof(battery));
-	orb_copy(ORB_ID(battery_status), battery_sub, &battery);
+	orb_copy(ORB_ID(battery_status), _battery_sub, &battery);
 
 	struct eam_module_msg msg;
 	*size = sizeof(msg);
@@ -92,7 +144,7 @@ build_eam_response(uint8_t *buffer, size_t *size)
 
 	msg.start = START_BYTE;
 	msg.eam_sensor_id = EAM_SENSOR_ID;
-	msg.sensor_id = EAM_SENSOR_TEXT_ID;
+	msg.sensor_text_id = EAM_SENSOR_TEXT_ID;
 	
 	msg.temperature1 = (uint8_t)(raw.baro_temp_celcius + 20);
 	msg.temperature2 = msg.temperature1 - BOARD_TEMP_OFFSET_DEG;
@@ -106,12 +158,46 @@ build_eam_response(uint8_t *buffer, size_t *size)
 	/* get a local copy of the airspeed data */
 	struct airspeed_s airspeed;
 	memset(&airspeed, 0, sizeof(airspeed));
-	orb_copy(ORB_ID(airspeed), airspeed_sub, &airspeed);
+	orb_copy(ORB_ID(airspeed), _airspeed_sub, &airspeed);
 
 	uint16_t speed = (uint16_t)(airspeed.indicated_airspeed_m_s * 3.6f);
 	msg.speed_L = (uint8_t)speed & 0xff;
 	msg.speed_H = (uint8_t)(speed >> 8) & 0xff;
-    
+
+	msg.stop = STOP_BYTE;
+	memcpy(buffer, &msg, *size);
+}
+
+void 
+build_gam_response(uint8_t *buffer, size_t *size)
+{
+	/* get a local copy of the ESC Status values */
+	struct esc_status_s esc;
+	memset(&esc, 0, sizeof(esc));
+	orb_copy(ORB_ID(esc_status), _esc_sub, &esc);
+
+	struct gam_module_msg msg;
+	*size = sizeof(msg);
+	memset(&msg, 0, *size);
+
+	msg.start = START_BYTE;
+	msg.gam_sensor_id = GAM_SENSOR_ID;
+	msg.sensor_text_id = GAM_SENSOR_TEXT_ID;
+	
+	msg.temperature1 = (uint8_t)(esc.esc[0].esc_temperature + 20);
+	msg.temperature2 = 20;  // 0 deg. C.
+
+	uint16_t voltage = (uint16_t)(esc.esc[0].esc_voltage);
+	msg.main_voltage_L = (uint8_t)voltage & 0xff;
+	msg.main_voltage_H = (uint8_t)(voltage >> 8) & 0xff;
+
+	uint16_t current = (uint16_t)(esc.esc[0].esc_current);
+	msg.current_L = (uint8_t)current & 0xff;
+	msg.current_H = (uint8_t)(current >> 8) & 0xff;
+
+	uint16_t rpm = (uint16_t)(esc.esc[0].esc_rpm * 0.1f);
+	msg.rpm_L = (uint8_t)rpm & 0xff;
+	msg.rpm_H = (uint8_t)(rpm >> 8) & 0xff;
 
 	msg.stop = STOP_BYTE;
 	memcpy(buffer, &msg, *size);
@@ -123,14 +209,14 @@ build_gps_response(uint8_t *buffer, size_t *size)
 	/* get a local copy of the current sensor values */
 	struct sensor_combined_s raw;
 	memset(&raw, 0, sizeof(raw));
-	orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
+	orb_copy(ORB_ID(sensor_combined), _sensor_sub, &raw);
 
  	/* get a local copy of the battery data */
 	struct vehicle_gps_position_s gps;
 	memset(&gps, 0, sizeof(gps));
-	orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps);
+	orb_copy(ORB_ID(vehicle_gps_position), _gps_sub, &gps);
 
-	struct gps_module_msg msg = { 0 };
+	struct gps_module_msg msg;
 	*size = sizeof(msg);
 	memset(&msg, 0, *size);
 
@@ -150,7 +236,7 @@ build_gps_response(uint8_t *buffer, size_t *size)
 		msg.flight_direction = (uint8_t)(gps.cog_rad * M_RAD_TO_DEG_F);
 
 		/* GPS speed */
-		uint16_t speed = (uint16_t)(gps.vel_m_s * 3.6);
+		uint16_t speed = (uint16_t)(gps.vel_m_s * 3.6f);
 		msg.gps_speed_L = (uint8_t)speed & 0xff;
 		msg.gps_speed_H = (uint8_t)(speed >> 8) & 0xff;
 		
@@ -196,33 +282,33 @@ build_gps_response(uint8_t *buffer, size_t *size)
 		msg.longitude_sec_H = (uint8_t)(lon_sec >> 8) & 0xff;
 		
 		/* Altitude */
-		uint16_t alt = (uint16_t)(gps.alt*1e-3 + 500.0f);
+		uint16_t alt = (uint16_t)(gps.alt*1e-3f + 500.0f);
 		msg.altitude_L = (uint8_t)alt & 0xff;
 		msg.altitude_H = (uint8_t)(alt >> 8) & 0xff;
 
-		/* Get any (and probably only ever one) home_sub postion report */
+		/* Get any (and probably only ever one) _home_sub postion report */
 		bool updated;
-		orb_check(home_sub, &updated);
+		orb_check(_home_sub, &updated);
 		if (updated) {
 			/* get a local copy of the home position data */
 			struct home_position_s home;
 			memset(&home, 0, sizeof(home));
-			orb_copy(ORB_ID(home_position), home_sub, &home);
+			orb_copy(ORB_ID(home_position), _home_sub, &home);
 
-			home_lat = ((double)(home.lat))*1e-7d;
-			home_lon = ((double)(home.lon))*1e-7d;
-			home_position_set = true;
+			_home_lat = ((double)(home.lat))*1e-7d;
+			_home_lon = ((double)(home.lon))*1e-7d;
+			_home_position_set = true;
 		}
 
 		/* Distance from home */
-		if (home_position_set) {
-			uint16_t dist = (uint16_t)get_distance_to_next_waypoint(home_lat, home_lon, lat, lon);
+		if (_home_position_set) {
+			uint16_t dist = (uint16_t)get_distance_to_next_waypoint(_home_lat, _home_lon, lat, lon);
 
 			msg.distance_L = (uint8_t)dist & 0xff;
 			msg.distance_H = (uint8_t)(dist >> 8) & 0xff;
 
 			/* Direction back to home */
-			uint16_t bearing = (uint16_t)(get_bearing_to_next_waypoint(home_lat, home_lon, lat, lon) * M_RAD_TO_DEG_F);
+			uint16_t bearing = (uint16_t)(get_bearing_to_next_waypoint(_home_lat, _home_lon, lat, lon) * M_RAD_TO_DEG_F);
 			msg.home_direction = (uint8_t)bearing >> 1;
 		}
 	}

src/drivers/hott/messages.h

@@ -60,19 +60,25 @@
 #define STOP_BYTE		0x7d
 #define TEMP_ZERO_CELSIUS	0x14
 
+/* The GAM Module poll message. */
+struct gam_module_poll_msg {
+	uint8_t mode;
+	uint8_t id;
+};
+
 /* Electric Air Module (EAM) constants. */
 #define EAM_SENSOR_ID			0x8e
 #define EAM_SENSOR_TEXT_ID		0xe0
 
 /* The Electric Air Module message. */
 struct eam_module_msg {
-	uint8_t start;				/**< Start byte   				*/
+	uint8_t start;			/**< Start byte   				*/
 	uint8_t eam_sensor_id;		/**< EAM sensor					*/
 	uint8_t warning;
-	uint8_t sensor_id;			/**< Sensor ID, why different?	*/
+	uint8_t sensor_text_id;
 	uint8_t alarm_inverse1;
 	uint8_t alarm_inverse2;
-	uint8_t cell1_L;			/**< Lipo cell voltages. Not supported.	*/
+	uint8_t cell1_L;		/**< Lipo cell voltages. Not supported.	*/
 	uint8_t cell2_L;
 	uint8_t cell3_L;
 	uint8_t cell4_L;
@@ -92,9 +98,9 @@ struct eam_module_msg {
 	uint8_t batt2_voltage_H;
 	uint8_t temperature1;		/**< Temperature sensor 1. 20 = 0 degrees */
 	uint8_t temperature2;
-	uint8_t altitude_L;			/**< Attitude (meters) lower 8-bits. 500 = 0 meters */
+	uint8_t altitude_L;		/**< Attitude (meters) lower 8-bits. 500 = 0 meters */
 	uint8_t altitude_H;
-	uint8_t current_L;			/**< Current (mAh) lower 8-bits in steps of 0.1V */
+	uint8_t current_L;		/**< Current (mAh) lower 8-bits in steps of 0.1V */
 	uint8_t current_H;
 	uint8_t main_voltage_L;		/**< Main power voltage lower 8-bits in steps of 0.1V */
 	uint8_t main_voltage_H;
@@ -103,35 +109,82 @@ struct eam_module_msg {
 	uint8_t climbrate_L;		/**< Climb rate in 0.01m/s. 0m/s = 30000 */
 	uint8_t climbrate_H;
 	uint8_t climbrate_3s;		/**< Climb rate in m/3sec. 0m/3sec = 120 */
-	uint8_t rpm_L;				/**< RPM Lower 8-bits In steps of 10 U/min */
+	uint8_t rpm_L;			/**< RPM Lower 8-bits In steps of 10 U/min */
 	uint8_t rpm_H;
 	uint8_t electric_min;		/**< Flight time in minutes. */
 	uint8_t electric_sec;		/**< Flight time in seconds. */
-	uint8_t speed_L;			/**< Airspeed in km/h in steps of 1 km/h */
+	uint8_t speed_L;		/**< Airspeed in km/h in steps of 1 km/h */
 	uint8_t speed_H;
-	uint8_t stop;				/**< Stop byte */
-	uint8_t checksum;			/**< Lower 8-bits of all bytes summed. */
+	uint8_t stop;			/**< Stop byte */
+	uint8_t checksum;		/**< Lower 8-bits of all bytes summed. */
 };
 
-/** 
- * The maximum buffer size required to store a HoTT message.
- */
-#define MESSAGE_BUFFER_SIZE sizeof(union { 	\
-    struct eam_module_msg eam; 				\
-})
+
+/* General Air Module (GAM) constants. */
+#define GAM_SENSOR_ID			0x8d
+#define GAM_SENSOR_TEXT_ID		0xd0
+
+struct gam_module_msg {
+        uint8_t start;		// start byte constant value 0x7c
+        uint8_t gam_sensor_id;		// EAM sensort id. constat value 0x8d
+        uint8_t warning_beeps;		// 1=A 2=B ... 0x1a=Z  0 = no alarm
+        uint8_t sensor_text_id;		// constant value 0xd0
+        uint8_t alarm_invers1;		// alarm bitmask. Value is displayed inverted
+        uint8_t alarm_invers2;		// alarm bitmask. Value is displayed inverted                                                                
+        uint8_t cell1;			// cell 1 voltage lower value. 0.02V steps, 124=2.48V
+        uint8_t cell2;
+        uint8_t cell3;
+        uint8_t cell4;
+        uint8_t cell5;
+        uint8_t cell6;
+        uint8_t batt1_L;		// battery 1 voltage LSB value. 0.1V steps. 50 = 5.5V
+        uint8_t batt1_H;
+        uint8_t batt2_L;		// battery 2 voltage LSB value. 0.1V steps. 50 = 5.5V
+        uint8_t batt2_H;
+        uint8_t temperature1;		// temperature 1. offset of 20. a value of 20 = 0°C
+        uint8_t temperature2;		// temperature 2. offset of 20. a value of 20 = 0°C
+        uint8_t fuel_procent;		// Fuel capacity in %. Values 0--100
+					// graphical display ranges: 0-25% 50% 75% 100%
+        uint8_t fuel_ml_L;		// Fuel in ml scale. Full = 65535!
+        uint8_t fuel_ml_H;		//
+        uint8_t rpm_L;			// RPM in 10 RPM steps. 300 = 3000rpm
+        uint8_t rpm_H;			//
+        uint8_t altitude_L;		// altitude in meters. offset of 500, 500 = 0m
+        uint8_t altitude_H;		//
+        uint8_t climbrate_L;		// climb rate in 0.01m/s. Value of 30000 = 0.00 m/s
+        uint8_t climbrate_H;		//
+        uint8_t climbrate3s;		// climb rate in m/3sec. Value of 120 = 0m/3sec
+        uint8_t current_L;		// current in 0.1A steps
+        uint8_t current_H;		//
+        uint8_t main_voltage_L;		// Main power voltage using 0.1V steps
+        uint8_t main_voltage_H;		//
+        uint8_t batt_cap_L;		// used battery capacity in 10mAh steps
+        uint8_t batt_cap_H;		//
+        uint8_t speed_L;		// (air?) speed in km/h(?) we are using ground speed here per default
+        uint8_t speed_H;		//
+        uint8_t min_cell_volt;		// minimum cell voltage in 2mV steps. 124 = 2,48V
+        uint8_t min_cell_volt_num;	// number of the cell with the lowest voltage
+        uint8_t rpm2_L;			// RPM in 10 RPM steps. 300 = 3000rpm
+        uint8_t rpm2_H;			//
+        uint8_t general_error_number;	// Voice error == 12. TODO: more docu
+        uint8_t pressure;		// Pressure up to 16bar. 0,1bar scale. 20 = 2bar
+        uint8_t version;		// version number TODO: more info?
+        uint8_t stop;			// stop byte
+        uint8_t checksum;		// checksum
+};
 
 /* GPS sensor constants. */
-#define GPS_SENSOR_ID		0x8A
-#define GPS_SENSOR_TEXT_ID	0xA0
+#define GPS_SENSOR_ID		0x8a
+#define GPS_SENSOR_TEXT_ID	0xa0
 
 /** 
  * The GPS sensor message
  * Struct based on: https://code.google.com/p/diy-hott-gps/downloads 
  */
 struct gps_module_msg { 
-	uint8_t start;				/**< Start byte */
-	uint8_t sensor_id;			/**< GPS sensor ID*/
-	uint8_t warning;			/**< Byte 3: 0…= warning beeps */
+	uint8_t start;			/**< Start byte */
+	uint8_t sensor_id;		/**< GPS sensor ID*/
+	uint8_t warning;		/**< Byte 3: 0…= warning beeps */
 	uint8_t sensor_text_id;		/**< GPS Sensor text mode ID */
 	uint8_t alarm_inverse1;		/**< Byte 5: 01 inverse status */
 	uint8_t alarm_inverse2;		/**< Byte 6: 00 inverse status status 1 = no GPS Signal */
@@ -179,15 +232,15 @@ struct gps_module_msg {
 	uint8_t checksum;			/**< Byte 45: Parity Byte */
 };
 
-/** 
- * The maximum buffer size required to store a HoTT message.
- */
-#define GPS_MESSAGE_BUFFER_SIZE sizeof(union { 	\
-    struct gps_module_msg gps; 				\
-})
+// The maximum size of a message.
+#define MAX_MESSAGE_BUFFER_SIZE 45
 
-void messages_init(void);
+void init_sub_messages(void);
+void init_pub_messages(void);
+void build_gam_request(uint8_t *buffer, size_t *size);
+void publish_gam_message(const uint8_t *buffer);
 void build_eam_response(uint8_t *buffer, size_t *size);
+void build_gam_response(uint8_t *buffer, size_t *size);
 void build_gps_response(uint8_t *buffer, size_t *size);
 float _get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
 void convert_to_degrees_minutes_seconds(double lat, int *deg, int *min, int *sec);

src/drivers/mkblctrl/mkblctrl.cpp

@@ -75,6 +75,7 @@
 #include <uORB/topics/actuator_controls_effective.h>
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/actuator_safety.h>
+#include <uORB/topics/esc_status.h>
 
 #include <systemlib/err.h>
 
@@ -88,7 +89,7 @@
 #define MOTOR_STATE_PRESENT_MASK		0x80
 #define MOTOR_STATE_ERROR_MASK		0x7F
 #define MOTOR_SPINUP_COUNTER			2500
-
+#define ESC_UORB_PUBLISH_DELAY			200
 
 class MK : public device::I2C
 {
@@ -120,6 +121,7 @@ public:
 	int		set_pwm_rate(unsigned rate);
 	int		set_motor_count(unsigned count);
 	int		set_motor_test(bool motortest);
+	int		set_overrideSecurityChecks(bool overrideSecurityChecks);
 	int		set_px4mode(int px4mode);
 	int		set_frametype(int frametype);
 	unsigned int		mk_check_for_blctrl(unsigned int count, bool showOutput);
@@ -137,11 +139,15 @@ private:
 	unsigned int		_motor;
 	int    _px4mode;
 	int    _frametype;
+
 	orb_advert_t	_t_outputs;
 	orb_advert_t	_t_actuators_effective;
+	orb_advert_t	_t_esc_status;
+
 	unsigned int	_num_outputs;
 	bool		_primary_pwm_device;
 	bool     _motortest;
+	bool 		_overrideSecurityChecks;
 
 	volatile bool	_task_should_exit;
 	bool		_armed;
@@ -215,6 +221,7 @@ struct MotorData_t {
 	unsigned int Version;                        // the version of the BL (0 = old)
 	unsigned int SetPoint;                       // written by attitude controller
 	unsigned int SetPointLowerBits;      // for higher Resolution of new BLs
+	float SetPoint_PX4; 			     // Values from PX4
 	unsigned int State;                          // 7 bit for I2C error counter, highest bit indicates if motor is present
 	unsigned int ReadMode;                       // select data to read
 	unsigned short RawPwmValue;							// length of PWM pulse
@@ -244,8 +251,10 @@ MK::MK(int bus) :
 	_t_actuator_safety(-1),
 	_t_outputs(0),
 	_t_actuators_effective(0),
+	_t_esc_status(0),
 	_num_outputs(0),
 	_motortest(false),
+	_overrideSecurityChecks(false),
 	_motor(-1),
 	_px4mode(MAPPING_MK),
 	_frametype(FRAME_PLUS),
@@ -465,6 +474,13 @@ MK::set_motor_test(bool motortest)
 	return OK;
 }
 
+int
+MK::set_overrideSecurityChecks(bool overrideSecurityChecks)
+{
+	_overrideSecurityChecks = overrideSecurityChecks;
+	return OK;
+}
+
 short
 MK::scaling(float val, float inMin, float inMax, float outMin, float outMax)
 {
@@ -507,8 +523,6 @@ MK::task_main()
 	_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
 				   &outputs);
 
-
-
 	/* advertise the effective control inputs */
 	actuator_controls_effective_s controls_effective;
 	memset(&controls_effective, 0, sizeof(controls_effective));
@@ -516,6 +530,12 @@ MK::task_main()
 	_t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1),
 				   &controls_effective);
 
+	/* advertise the blctrl status */
+	esc_status_s esc;
+	memset(&esc, 0, sizeof(esc));
+	_t_esc_status = orb_advertise(ORB_ID(esc_status), &esc);
+
+
 
 	pollfd fds[2];
 	fds[0].fd = _t_actuators;
@@ -603,9 +623,11 @@ MK::task_main()
 						}
 					}
 
-					/* don't go under BLCTRL_MIN_VALUE */
-					if (outputs.output[i] < BLCTRL_MIN_VALUE) {
-						outputs.output[i] = BLCTRL_MIN_VALUE;
+					if(!_overrideSecurityChecks) {
+						/* don't go under BLCTRL_MIN_VALUE */
+						if (outputs.output[i] < BLCTRL_MIN_VALUE) {
+							outputs.output[i] = BLCTRL_MIN_VALUE;
+						}
 					}
 
 					/* output to BLCtrl's */
@@ -613,7 +635,10 @@ MK::task_main()
 						mk_servo_test(i);
 
 					} else {
-						mk_servo_set_value(i, scaling(outputs.output[i], -1.0f, 1.0f, 0, 1024));	// scale the output to 0 - 1024 and sent to output routine
+						//mk_servo_set_value(i, scaling(outputs.output[i], -1.0f, 1.0f, 0, 1024));	// scale the output to 0 - 1024 and sent to output routine
+						// 11 Bit
+						Motor[i].SetPoint_PX4 = outputs.output[i];
+						mk_servo_set(i, scaling(outputs.output[i], -1.0f, 1.0f, 0, 2047));	// scale the output to 0 - 2047 and sent to output routine
 					}
 
 				}
@@ -636,8 +661,43 @@ MK::task_main()
 		}
 
 
+
+		/*
+		 * Only update esc topic every half second.
+		 */
+
+		if (hrt_absolute_time() - esc.timestamp > 500000) {
+			esc.counter++;
+			esc.timestamp = hrt_absolute_time();
+			esc.esc_count = (uint8_t) _num_outputs;
+			esc.esc_connectiontype = ESC_CONNECTION_TYPE_I2C;
+
+			for (unsigned int i = 0; i < _num_outputs; i++) {
+				esc.esc[i].esc_address = (uint8_t) BLCTRL_BASE_ADDR + i;
+				esc.esc[i].esc_vendor = ESC_VENDOR_MIKROKOPTER;
+				esc.esc[i].esc_version = (uint16_t) Motor[i].Version;
+				esc.esc[i].esc_voltage = (uint16_t) 0;
+				esc.esc[i].esc_current = (uint16_t) Motor[i].Current;
+				esc.esc[i].esc_rpm = (uint16_t) 0;
+				esc.esc[i].esc_setpoint = (float) Motor[i].SetPoint_PX4;
+				if (Motor[i].Version == 1) {
+					// BLCtrl 2.0 (11Bit)
+					esc.esc[i].esc_setpoint_raw = (uint16_t) (Motor[i].SetPoint<<3) | Motor[i].SetPointLowerBits;
+				} else {
+					// BLCtrl < 2.0 (8Bit)
+					esc.esc[i].esc_setpoint_raw = (uint16_t) Motor[i].SetPoint;
+				}
+				esc.esc[i].esc_temperature = (uint16_t) Motor[i].Temperature;
+				esc.esc[i].esc_state = (uint16_t) Motor[i].State;
+				esc.esc[i].esc_errorcount = (uint16_t) 0;
+			}
+
+			orb_publish(ORB_ID(esc_status), _t_esc_status, &esc);
+		}
+
 	}
 
+	//::close(_t_esc_status);
 	::close(_t_actuators);
 	::close(_t_actuators_effective);
 	::close(_t_actuator_safety);
@@ -716,17 +776,17 @@ MK::mk_check_for_blctrl(unsigned int count, bool showOutput)
 			fprintf(stderr, "[mkblctrl] blctrl[%i] : found=%i\tversion=%i\tcurrent=%i\tmaxpwm=%i\ttemperature=%i\n", i, Motor[i].State, Motor[i].Version, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature);
 		}
 
-		if (foundMotorCount != 4 && foundMotorCount != 6 && foundMotorCount != 8) {
-			_task_should_exit = true;
+		
+		if(!_overrideSecurityChecks) {
+			if (foundMotorCount != 4 && foundMotorCount != 6 && foundMotorCount != 8) {
+				_task_should_exit = true;
+			}
 		}
 	}
 
 	return foundMotorCount;
 }
 
-
-
-
 int
 MK::mk_servo_set(unsigned int chan, short val)
 {
@@ -739,17 +799,15 @@ MK::mk_servo_set(unsigned int chan, short val)
 
 	tmpVal = val;
 
-	if (tmpVal > 1024) {
-		tmpVal = 1024;
+	if (tmpVal > 2047) {
+		tmpVal = 2047;
 
 	} else if (tmpVal < 0) {
 		tmpVal = 0;
 	}
 
-	Motor[chan].SetPoint = (uint8_t)(tmpVal / 4);
-	//Motor[chan].SetPointLowerBits = (uint8_t) tmpVal % 4;
-
-	Motor[chan].SetPointLowerBits = 0;
+	Motor[chan].SetPoint = (uint8_t)(tmpVal>>3)&0xff;
+	Motor[chan].SetPointLowerBits = ((uint8_t)tmpVal%8)&0x07;
 
 	if (_armed == false) {
 		Motor[chan].SetPoint = 0;
@@ -1015,8 +1073,7 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 	case PWM_SERVO_SET(0) ... PWM_SERVO_SET(_max_actuators - 1):
 		if (arg < 2150) {
 			Motor[cmd - PWM_SERVO_SET(0)].RawPwmValue = (unsigned short)arg;
-			mk_servo_set_value(cmd - PWM_SERVO_SET(0), scaling(arg, 1010, 2100, 0, 1024));
-
+			mk_servo_set(cmd - PWM_SERVO_SET(0), scaling(arg, 1010, 2100, 0, 2047));
 		} else {
 			ret = -EINVAL;
 		}
@@ -1113,25 +1170,19 @@ ssize_t
 MK::write(file *filp, const char *buffer, size_t len)
 {
 	unsigned count = len / 2;
-	// loeschen uint16_t values[4];
 	uint16_t values[8];
 
-	// loeschen if (count > 4) {
-	// loeschen 	// we only have 4 PWM outputs on the FMU
-	// loeschen	count = 4;
-	// loeschen }
 	if (count > _num_outputs) {
 		// we only have 8 I2C outputs in the driver
 		count = _num_outputs;
 	}
 
-
 	// allow for misaligned values
 	memcpy(values, buffer, count * 2);
 
 	for (uint8_t i = 0; i < count; i++) {
 		Motor[i].RawPwmValue = (unsigned short)values[i];
-		mk_servo_set_value(i, scaling(values[i], 1010, 2100, 0, 1024));
+		mk_servo_set(i, scaling(values[i], 1010, 2100, 0, 2047));
 	}
 
 	return count * 2;
@@ -1283,7 +1334,7 @@ enum FrameType {
 PortMode g_port_mode;
 
 int
-mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest, int px4mode, int frametype)
+mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest, int px4mode, int frametype, bool overrideSecurityChecks)
 {
 	uint32_t gpio_bits;
 	int shouldStop = 0;
@@ -1342,6 +1393,9 @@ mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest,
 	/* motortest if enabled */
 	g_mk->set_motor_test(motortest);
 
+	/* ovveride security checks if enabled */
+	g_mk->set_overrideSecurityChecks(overrideSecurityChecks);
+
 
 	/* count used motors */
 	do {
@@ -1407,6 +1461,7 @@ mkblctrl_main(int argc, char *argv[])
 	int px4mode = MAPPING_PX4;
 	int frametype = FRAME_PLUS;	// + plus is default
 	bool motortest = false;
+	bool overrideSecurityChecks = false;
 	bool showHelp = false;
 	bool newMode = false;
 
@@ -1462,11 +1517,21 @@ mkblctrl_main(int argc, char *argv[])
 			showHelp = true;
 		}
 
+		/* look for the optional --override-security-checks  parameter */
+		if (strcmp(argv[i], "--override-security-checks") == 0) {
+			overrideSecurityChecks = true;
+			newMode = true;
+		}
+
 	}
 
 	if (showHelp) {
 		fprintf(stderr, "mkblctrl: help:\n");
-		fprintf(stderr, "  [-mkmode frame{+/x}] [-b i2c_bus_number] [-t motortest] [-h / --help]\n");
+		fprintf(stderr, "  [-mkmode frame{+/x}] [-b i2c_bus_number] [-t motortest] [--override-security-checks] [-h / --help]\n\n");
+		fprintf(stderr, "\t -mkmode frame {+/x} \t\t Type of frame, if Mikrokopter motor order is used.\n");
+		fprintf(stderr, "\t -b i2c_bus_number \t\t Set the i2c bus where the ESCs are connected to (default 1).\n");
+		fprintf(stderr, "\t -t motortest \t\t\t Spin up once every motor in order of motoraddress. (DANGER !!!)\n");
+		fprintf(stderr, "\t --override-security-checks \t\t Disable all security checks (arming and number of ESCs). Used to test single Motors etc. (DANGER !!!)\n");
 		exit(1);
 	}
 
@@ -1484,7 +1549,7 @@ mkblctrl_main(int argc, char *argv[])
 	/* parameter set ? */
 	if (newMode) {
 		/* switch parameter */
-		return mk_new_mode(port_mode, pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype);
+		return mk_new_mode(port_mode, pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype, overrideSecurityChecks);
 	}
 
 	/* test, etc. here g*/

src/drivers/mpu6000/mpu6000.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2012 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
@@ -272,6 +272,11 @@ private:
 	 */
 	void _set_dlpf_filter(uint16_t frequency_hz);
 
+	/*
+	  set sample rate (approximate) - 1kHz to 5Hz
+	*/
+	void _set_sample_rate(uint16_t desired_sample_rate_hz);
+
 };
 
 /**
@@ -378,7 +383,8 @@ MPU6000::init()
 	up_udelay(1000);
 
 	// SAMPLE RATE
-	write_reg(MPUREG_SMPLRT_DIV, 0x04);     // Sample rate = 200Hz    Fsample= 1Khz/(4+1) = 200Hz
+	//write_reg(MPUREG_SMPLRT_DIV, 0x04);     // Sample rate = 200Hz    Fsample= 1Khz/(4+1) = 200Hz
+	_set_sample_rate(200); // default sample rate = 200Hz
 	usleep(1000);
 
 	// FS & DLPF   FS=2000 deg/s, DLPF = 20Hz (low pass filter)
@@ -493,6 +499,18 @@ MPU6000::probe()
 	return -EIO;
 }
 
+/*
+  set sample rate (approximate) - 1kHz to 5Hz, for both accel and gyro
+*/
+void
+MPU6000::_set_sample_rate(uint16_t desired_sample_rate_hz)
+{
+  uint8_t div = 1000 / desired_sample_rate_hz;
+  if(div>200) div=200;
+  if(div<1) div=1;
+  write_reg(MPUREG_SMPLRT_DIV, div-1);
+}
+
 /*
   set the DLPF filter frequency. This affects both accel and gyro.
  */
@@ -644,8 +662,8 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case ACCELIOCSSAMPLERATE:
 	case ACCELIOCGSAMPLERATE:
-		/* XXX not implemented */
-		return -EINVAL;
+	  _set_sample_rate(arg);
+	  return OK;
 
 	case ACCELIOCSLOWPASS:
 	case ACCELIOCGLOWPASS:
@@ -702,8 +720,8 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case GYROIOCSSAMPLERATE:
 	case GYROIOCGSAMPLERATE:
-		/* XXX not implemented */
-		return -EINVAL;
+	  _set_sample_rate(arg);
+	  return OK;
 
 	case GYROIOCSLOWPASS:
 	case GYROIOCGLOWPASS:

src/drivers/px4fmu/fmu.cpp

@@ -167,7 +167,7 @@ PX4FMU	*g_fmu;
 } // namespace
 
 PX4FMU::PX4FMU() :
-	CDev("fmuservo", "/dev/px4fmu"),
+	CDev("fmuservo", PX4FMU_DEVICE_PATH),
 	_mode(MODE_NONE),
 	_pwm_default_rate(50),
 	_pwm_alt_rate(50),

src/drivers/px4io/px4io.cpp

@@ -145,6 +145,16 @@ public:
 	*/
 	void			print_status();
 
+	inline void		set_dsm_vcc_ctl(bool enable)
+	{
+		_dsm_vcc_ctl = enable;
+	};
+
+	inline bool		get_dsm_vcc_ctl()
+	{
+		return _dsm_vcc_ctl;
+	};
+
 private:
 	// XXX
 	unsigned		_max_actuators;
@@ -189,6 +199,12 @@ private:
 	float			_battery_mamphour_total;
 	uint64_t		_battery_last_timestamp;
 
+	/**
+	 * Relay1 is dedicated to controlling DSM receiver power
+	 */
+
+	bool			_dsm_vcc_ctl;
+
 	/**
 	 * Trampoline to the worker task
 	 */
@@ -330,7 +346,7 @@ PX4IO	*g_dev;
 }
 
 PX4IO::PX4IO() :
-	I2C("px4io", "/dev/px4io", PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO, 320000),
+	I2C("px4io", PX4IO_DEVICE_PATH, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO, 320000),
 	_max_actuators(0),
 	_max_controls(0),
 	_max_rc_input(0),
@@ -356,7 +372,8 @@ PX4IO::PX4IO() :
 	_battery_amp_per_volt(90.0f/5.0f), // this matches the 3DR current sensor
 	_battery_amp_bias(0),
 	_battery_mamphour_total(0),
-	_battery_last_timestamp(0)
+	_battery_last_timestamp(0),
+	_dsm_vcc_ctl(false)
 {
 	/* we need this potentially before it could be set in task_main */
 	g_dev = this;
@@ -762,8 +779,6 @@ PX4IO::io_set_control_state()
 int
 PX4IO::set_failsafe_values(const uint16_t *vals, unsigned len)
 {
-	uint16_t 		regs[_max_actuators];
-
 	if (len > _max_actuators)
 		/* fail with error */
 		return E2BIG;
@@ -1399,14 +1414,15 @@ PX4IO::print_status()
 	printf("%u bytes free\n",
 		io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FREEMEM));
 	uint16_t flags = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS);
-	printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s%s\n",
+	printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s%s%s\n",
 		flags,
 		((flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED) ? " OUTPUTS_ARMED" : ""),
 		((flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ? " SAFETY_OFF" : " SAFETY_SAFE"),
 		((flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ? " OVERRIDE" : ""),
 		((flags & PX4IO_P_STATUS_FLAGS_RC_OK)    ? " RC_OK" : " RC_FAIL"),
 		((flags & PX4IO_P_STATUS_FLAGS_RC_PPM)   ? " PPM" : ""),
-		((flags & PX4IO_P_STATUS_FLAGS_RC_DSM)   ? " DSM" : ""),
+		(((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (!(flags & PX4IO_P_STATUS_FLAGS_RC_DSM11))) ? " DSM10" : ""),
+		(((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (flags & PX4IO_P_STATUS_FLAGS_RC_DSM11)) ? " DSM11" : ""),
 		((flags & PX4IO_P_STATUS_FLAGS_RC_SBUS)  ? " SBUS" : ""),
 		((flags & PX4IO_P_STATUS_FLAGS_FMU_OK)   ? " FMU_OK" : " FMU_FAIL"),
 		((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM)  ? " RAW_PPM" : ""),
@@ -1506,7 +1522,8 @@ PX4IO::print_status()
 }
 
 int
-PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
+PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
+/* Make it obvious that file * isn't used here */
 {
 	int ret = OK;
 
@@ -1558,6 +1575,26 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		*(unsigned *)arg = _max_actuators;
 		break;
 
+	case DSM_BIND_START:
+		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down); 
+		usleep(500000);
+		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out);
+		usleep(1000);
+		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
+		usleep(100000);
+		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (arg << 4));
+		break;
+
+	case DSM_BIND_STOP:
+		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
+		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
+		usleep(500000);
+		break;
+
+	case DSM_BIND_POWER_UP:
+		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
+		break;
+
 	case PWM_SERVO_SET(0) ... PWM_SERVO_SET(PWM_OUTPUT_MAX_CHANNELS - 1): {
 
 		/* TODO: we could go lower for e.g. TurboPWM */
@@ -1600,18 +1637,31 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		break;
 	}
 
-	case GPIO_RESET:
-		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, 0);
+	case GPIO_RESET: {
+		uint32_t bits = (1 << _max_relays) - 1;
+		/* don't touch relay1 if it's controlling RX vcc */
+		if (_dsm_vcc_ctl)
+			bits &= ~PX4IO_RELAY1;
+		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, bits, 0);
 		break;
+	}
 
 	case GPIO_SET:
 		arg &= ((1 << _max_relays) - 1);
-		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, 0, arg);
+		/* don't touch relay1 if it's controlling RX vcc */
+		if (_dsm_vcc_ctl & (arg & PX4IO_RELAY1))
+			ret = -EINVAL;
+		else
+			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, 0, arg);
 		break;
 
 	case GPIO_CLEAR:
 		arg &= ((1 << _max_relays) - 1);
-		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, arg, 0);
+		/* don't touch relay1 if it's controlling RX vcc */
+		if (_dsm_vcc_ctl & (arg & PX4IO_RELAY1))
+			ret = -EINVAL;
+		else
+			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, arg, 0);
 		break;
 
 	case GPIO_GET:
@@ -1748,9 +1798,64 @@ start(int argc, char *argv[])
 		errx(1, "driver init failed");
 	}
 
+	int dsm_vcc_ctl;
+
+	if (param_get(param_find("RC_RL1_DSM_VCC"), &dsm_vcc_ctl) == OK) {
+		if (dsm_vcc_ctl) {
+			g_dev->set_dsm_vcc_ctl(true);
+			g_dev->ioctl(nullptr, DSM_BIND_POWER_UP, 0);
+		}
+	}
 	exit(0);
 }
 
+void
+bind(int argc, char *argv[])
+{
+	int pulses;
+
+	if (g_dev == nullptr)
+		errx(1, "px4io must be started first");
+
+	if (!g_dev->get_dsm_vcc_ctl())
+		errx(1, "DSM bind feature not enabled");
+
+	if (argc < 3)
+		errx(0, "needs argument, use dsm2 or dsmx");
+
+	if (!strcmp(argv[2], "dsm2"))
+		pulses = 3;
+	else if (!strcmp(argv[2], "dsmx"))
+		pulses = 7;
+	else 
+		errx(1, "unknown parameter %s, use dsm2 or dsmx", argv[2]);
+
+	/* Open console directly to grab CTRL-C signal */
+	int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY);
+	if (!console)
+		errx(1, "failed opening console");
+
+	warnx("This command will only bind DSM if satellite VCC (red wire) is controlled by relay 1.");
+	warnx("Press CTRL-C or 'c' when done.");
+
+	g_dev->ioctl(nullptr, DSM_BIND_START, pulses);
+
+	for (;;) {
+		usleep(500000L);
+		/* Check if user wants to quit */
+		char c;
+		if (read(console, &c, 1) == 1) {
+			if (c == 0x03 || c == 0x63) {
+				warnx("Done\n");
+				g_dev->ioctl(nullptr, DSM_BIND_STOP, 0);
+				g_dev->ioctl(nullptr, DSM_BIND_POWER_UP, 0);
+				close(console);
+	            exit(0);
+            }
+		}
+	}
+}
+
 void
 test(void)
 {
@@ -1760,7 +1865,7 @@ test(void)
 	int		direction = 1;
 	int		ret;
 
-	fd = open("/dev/px4io", O_WRONLY);
+	fd = open(PX4IO_DEVICE_PATH, O_WRONLY);
 
 	if (fd < 0)
 		err(1, "failed to open device");
@@ -2044,7 +2149,7 @@ px4io_main(int argc, char *argv[])
 			 * We can cheat and call the driver directly, as it
 		 	 * doesn't reference filp in ioctl()
 			 */
-			g_dev->ioctl(NULL, PX4IO_INAIR_RESTART_ENABLE, 1);
+			g_dev->ioctl(nullptr, PX4IO_INAIR_RESTART_ENABLE, 1);
 		} else {
 			errx(1, "not loaded");
 		}
@@ -2088,7 +2193,7 @@ px4io_main(int argc, char *argv[])
 		/* we can cheat and call the driver directly, as it
 		 * doesn't reference filp in ioctl()
 		 */
-		int ret = g_dev->ioctl(NULL, PX4IO_SET_DEBUG, level);
+		int ret = g_dev->ioctl(nullptr, PX4IO_SET_DEBUG, level);
 		if (ret != 0) {
 			printf("SET_DEBUG failed - %d\n", ret);
 			exit(1);
@@ -2162,6 +2267,9 @@ px4io_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "monitor"))
 		monitor();
 
+	if (!strcmp(argv[1], "bind"))
+		bind(argc, argv);
+
 	out:
-	errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug', 'recovery', 'limit', 'current', 'failsafe', 'min, 'max', 'idle' or 'update'");
+	errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug',\n 'recovery', 'limit', 'current', 'failsafe', 'min, 'max',\n 'idle', 'bind' or 'update'");
 }