Quickly separated low-level raw RC from mapped / scaled RC, supports FMU PPM and IO PPM / Spektrum now

apps/drivers/drv_rc_input.h

@@ -57,15 +57,23 @@
 #define RC_INPUT_DEVICE_PATH	"/dev/input_rc"
 
 /**
- * Maximum number of R/C input channels in the system.
+ * Maximum number of R/C input channels in the system. S.Bus has up to 18 channels.
  */
-#define RC_INPUT_MAX_CHANNELS	16
+#define RC_INPUT_MAX_CHANNELS	18
 
 /**
  * Input signal type, value is a control position from zero to 100
  * percent.
  */
-typedef uint8_t		rc_input_t;
+typedef uint16_t		rc_input_t;
+
+enum RC_INPUT_SOURCE {
+	RC_INPUT_SOURCE_UNKNOWN = 0,
+	RC_INPUT_SOURCE_PX4FMU_PPM,
+	RC_INPUT_SOURCE_PX4IO_PPM,
+	RC_INPUT_SOURCE_PX4IO_SPEKTRUM,
+	RC_INPUT_SOURCE_PX4IO_SBUS
+};
 
 /**
  * R/C input status structure.
@@ -74,10 +82,16 @@ typedef uint8_t		rc_input_t;
  * on the board involved.
  */
 struct rc_input_values {
+	/** decoding time */
+	uint64_t		timestamp;
+
 	/** number of channels actually being seen */
 	uint32_t		channel_count;
 
-	/** desired pulse widths for each of the supported channels */
+	/** Input source */
+	enum RC_INPUT_SOURCE 	input_source;
+
+	/** measured pulse widths for each of the supported channels */
 	rc_input_t		values[RC_INPUT_MAX_CHANNELS];
 };
 

apps/drivers/px4io/px4io.cpp

@@ -61,9 +61,10 @@
 #include <drivers/device/device.h>
 #include <drivers/drv_rc_input.h>
 #include <drivers/drv_pwm_output.h>
-#include <systemlib/mixer/mixer.h>
+#include <drivers/drv_hrt.h>
 #include <drivers/drv_mixer.h>
 
+#include <systemlib/mixer/mixer.h>
 #include <systemlib/perf_counter.h>
 #include <systemlib/hx_stream.h>
 #include <systemlib/err.h>
@@ -105,6 +106,9 @@ private:
 	int			_t_armed;	///< system armed control topic
 	actuator_armed_s	_armed;		///< system armed state
 
+	orb_advert_t 		_to_input_rc;	///< rc inputs from io
+	rc_input_values		_input_rc;	///< rc input values
+
 	orb_advert_t		_t_outputs;	///< mixed outputs topic
 	actuator_outputs_s	_outputs;	///< mixed outputs
 
@@ -317,9 +321,14 @@ PX4IO::task_main()
 	orb_set_interval(_t_armed, 200);		/* 5Hz update rate */
 
 	/* advertise the mixed control outputs */
+	memset(&_outputs, 0, sizeof(_outputs));
 	_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
 				   &_outputs);
 
+	/* advertise the rc inputs */
+	memset(&_input_rc, 0, sizeof(_input_rc));
+	_to_input_rc = orb_advertise(ORB_ID(input_rc), &_input_rc);
+
 	/* poll descriptor */
 	pollfd fds[3];
 	fds[0].fd = _serial_fd;
@@ -456,7 +465,14 @@ PX4IO::rx_callback(const uint8_t *buffer, size_t bytes_received)
 	}
 	_connected = true;
 
-	/* XXX handle R/C inputs here ... needs code sharing/library */
+	/* publish raw rc channel values from IO */
+	_input_rc.timestamp = hrt_absolute_time();
+	for (int i = 0; i < rep->channel_count; i++)
+	{
+		_input_rc.values[i] = rep->rc_channel[i];
+	}
+
+	orb_publish(ORB_ID(input_rc), _to_input_rc, &_input_rc);
 
 	/* remember the latched arming switch state */
 	_switch_armed = rep->armed;

apps/drivers/stm32/drv_hrt.c

@@ -338,7 +338,7 @@ static void		hrt_call_invoke(void);
 /* decoded PPM buffer */
 #define PPM_MAX_CHANNELS	12
 __EXPORT uint16_t ppm_buffer[PPM_MAX_CHANNELS];
-__EXPORT unsigned ppm_decoded_channels;
+__EXPORT unsigned ppm_decoded_channels = 0;
 __EXPORT uint64_t ppm_last_valid_decode = 0;
 
 /* PPM edge history */