drivers: add support for Aerotenna OcPoC-Zynq hardware

src/drivers/boards/ocpoc/board_config.h

@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2017 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 board_config.h
+ *
+ * OCPOC internal definitions
+ */
+
+#pragma once
+
+#define BOARD_OVERRIDE_UUID "OCPOC       " // must be of length 12 (PX4_CPU_UUID_BYTE_LENGTH)
+#define BOARD_OVERRIDE_MFGUID BOARD_OVERRIDE_UUID
+
+#define BOARD_NAME "OCPOC"
+#define BOARD_BATTERY1_V_DIV   (10.177939394f)
+#define BOARD_HAS_NO_RESET
+#define BOARD_HAS_NO_BOOTLOADER
+
+// Battery ADC channels
+#define ADC_BATTERY_VOLTAGE_CHANNEL     10
+#define ADC_BATTERY_CURRENT_CHANNEL     ((uint8_t)(-1))
+#define ADC_AIRSPEED_VOLTAGE_CHANNEL    11
+
+#include <system_config.h>
+#include "../common/board_common.h"
+
+#define BOARD_MAX_LEDS 1 // Number external of LED's this board has

src/drivers/drv_led.h

@@ -57,5 +57,8 @@
 // set the queue size to the number of LED's, so that each led can be controlled individually
 static const int LED_UORB_QUEUE_LENGTH = BOARD_MAX_LEDS;
 
-
+#if defined (__PX4_POSIX_OCPOC)
+#define RGBLED0_DEVICE_PATH "/dev/i2c-1"
+#else
 #define RGBLED0_DEVICE_PATH "/dev/rgbled0"
+#endif

src/drivers/ocpoc_adc/CMakeLists.txt

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2015-2017 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 drivers__ocpoc_adc
+	MAIN ocpoc_adc
+	COMPILE_FLAGS
+	SRCS
+		ocpoc_adc.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/drivers/ocpoc_adc/ocpoc_adc.cpp

@@ -0,0 +1,245 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2017 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 ocpoc_adc.cpp
+ *
+ * OcPoC ADC Driver
+ *
+ * @author Lianying Ji <ji@aerotenna.com>
+ * @author Dave Royer <dave@aerotenna.com>
+ */
+
+#include <px4_config.h>
+#include <px4_tasks.h>
+#include <px4_posix.h>
+#include <px4_adc.h>
+#include <drivers/drv_adc.h>
+
+#include <VirtDevObj.hpp>
+
+#include <unistd.h>
+#include <stdio.h>
+#include <poll.h>
+#include <string.h>
+
+#define ADC_BASE_DEV_PATH "/dev/adc"
+#define ADC_VOLTAGE_PATH "/sys/bus/iio/devices/iio:device0/in_voltage8_raw"
+
+__BEGIN_DECLS
+__EXPORT int ocpoc_adc_main(int argc, char *argv[]);
+__END_DECLS
+
+class OcpocADC: public DriverFramework::VirtDevObj
+{
+public:
+	OcpocADC();
+	virtual ~OcpocADC();
+
+	virtual int init();
+
+	virtual ssize_t devRead(void *buf, size_t count) override;
+	virtual int devIOCTL(unsigned long request, unsigned long arg) override;
+
+protected:
+	virtual void _measure() override;
+
+private:
+	int read(struct adc_msg_s(*buf)[12], unsigned int len);
+
+	pthread_mutex_t _samples_lock;
+	adc_msg_s _samples;
+	FILE *xadc_fd;
+};
+
+OcpocADC::OcpocADC()
+	: DriverFramework::VirtDevObj("ocpoc_adc", ADC0_DEVICE_PATH, ADC_BASE_DEV_PATH, 1e6 / 100)
+{
+	pthread_mutex_init(&_samples_lock, NULL);
+}
+
+OcpocADC::~OcpocADC()
+{
+	pthread_mutex_destroy(&_samples_lock);
+}
+
+void OcpocADC::_measure()
+{
+	struct adc_msg_s tmp_samples[12];
+
+	int ret = read(&tmp_samples, sizeof(tmp_samples));
+
+	if (ret != 0) {
+		PX4_ERR("ocpoc_adc_read: %d", ret);
+	}
+
+	pthread_mutex_lock(&_samples_lock);
+	memcpy(&_samples, &tmp_samples, sizeof(tmp_samples));
+	pthread_mutex_unlock(&_samples_lock);
+}
+
+int OcpocADC::init()
+{
+	int ret;
+
+	ret = DriverFramework::VirtDevObj::init();
+
+	if (ret != PX4_OK) {
+		PX4_ERR("init failed");
+		return ret;
+	}
+
+	return PX4_OK;
+}
+
+int OcpocADC::devIOCTL(unsigned long request, unsigned long arg)
+{
+	return -ENOTTY;
+}
+
+ssize_t OcpocADC::devRead(void *buf, size_t count)
+{
+	const size_t maxsize = sizeof(_samples);
+	int ret;
+
+	if (count > maxsize) {
+		count = maxsize;
+	}
+
+	ret = pthread_mutex_trylock(&_samples_lock);
+
+	if (ret != 0) {
+		return 0;
+	}
+
+	memcpy(buf, &_samples, count);
+	pthread_mutex_unlock(&_samples_lock);
+
+	return count;
+}
+
+int OcpocADC::read(struct adc_msg_s(*buf)[12], unsigned int len)
+{
+	uint32_t buff[1];
+	int ret = 0;
+
+	xadc_fd = fopen(ADC_VOLTAGE_PATH, "r");
+
+	if (xadc_fd != NULL) {
+		fscanf(xadc_fd, "%d", buff);
+		fclose(xadc_fd);
+
+		(*buf)[0].am_data = buff[0];
+
+	} else {
+		(*buf)[0].am_data = 0;
+		ret = -1;
+	}
+
+	(*buf)[0].am_channel = ADC_BATTERY_VOLTAGE_CHANNEL;
+
+	return ret;
+}
+
+static OcpocADC *instance = nullptr;
+
+int ocpoc_adc_main(int argc, char *argv[])
+{
+	int ret;
+
+	if (argc < 2) {
+		PX4_WARN("usage: {start|stop|test}");
+		return PX4_ERROR;
+	}
+
+	if (!strcmp(argv[1], "start")) {
+		if (instance) {
+			PX4_WARN("already started");
+			return PX4_OK;
+		}
+
+		instance = new OcpocADC;
+
+		if (!instance) {
+			PX4_WARN("not enough memory");
+			return PX4_ERROR;
+		}
+
+		if (instance->init() != PX4_OK) {
+			delete instance;
+			instance = nullptr;
+			PX4_WARN("init failed");
+			return PX4_ERROR;
+		}
+
+		return PX4_OK;
+
+	} else if (!strcmp(argv[1], "stop")) {
+		if (!instance) {
+			PX4_WARN("already stopped");
+			return PX4_OK;
+		}
+
+		delete instance;
+		instance = nullptr;
+		return PX4_OK;
+
+	} else if (!strcmp(argv[1], "test")) {
+		if (!instance) {
+			PX4_ERR("start first");
+			return PX4_ERROR;
+		}
+
+		struct adc_msg_s adc_msgs[12];
+
+		ret = instance->devRead((char *)&adc_msgs, sizeof(adc_msgs));
+
+		if (ret < 0) {
+			PX4_ERR("ret: %s (%d)\n", strerror(ret), ret);
+			return ret;
+
+		} else {
+			PX4_INFO("ADC Data: %d", adc_msgs[0].am_data);
+		}
+
+		return PX4_OK;
+
+	} else {
+		PX4_WARN("action (%s) not supported", argv[1]);
+
+		return PX4_ERROR;
+	}
+
+	return PX4_OK;
+
+}

src/drivers/ocpoc_mmap_pwm_out/CMakeLists.txt

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2015-2016 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 drivers__ocpoc_mmap_pwm_out
+	MAIN ocpoc_mmap_pwm_out
+	COMPILE_FLAGS -Os
+	SRCS
+		ocpoc_mmap_pwm_out.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/drivers/ocpoc_sbus_rc_in/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 drivers__ocpoc_sbus_rc_in
+	MAIN ocpoc_sbus_rc_in
+	STACK_MAIN 1200
+	COMPILE_FLAGS -Os
+	SRCS
+		ocpoc_sbus_rc_in.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/drivers/ocpoc_sbus_rc_in/ocpoc_sbus_rc_in.cpp

@@ -0,0 +1,306 @@
+/****************************************************************************
+ *
+ *   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>
+
+#include <rc/sbus.h>
+
+namespace ocpoc_sbus_rc_in
+{
+
+extern "C" __EXPORT int ocpoc_sbus_rc_in_main(int argc, char *argv[]);
+
+#define RCINPUT_DEVICE_PATH "/dev/ttyS2"
+
+#define RCINPUT_MEASURE_INTERVAL_US 6500 // FUBATA T8J is 6.8ms frame rate, microseconds
+
+#define SBUS_INPUT_CHANNELS	8   // FUBATA T8J is 8-channel
+
+class RcInput
+{
+public:
+	RcInput() :
+		_shouldExit(false),
+		_isRunning(false),
+		_work{},
+		_rcinput_pub(nullptr),
+		_channels(8), //FUBUTA, 8
+		_data{}
+	{
+		_sbus_fd = -1;
+	}
+	~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 _sbus_fd = -1;
+	struct input_rc_s _data;
+
+	int ocpoc_subs_rc_init();
+};
+
+int RcInput::ocpoc_subs_rc_init()
+{
+	int i;
+
+	/* S.bus input (USART3) */
+	_sbus_fd = sbus_init(RCINPUT_DEVICE_PATH, true); //jly
+
+
+	for (i=_channels; 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 = ocpoc_subs_rc_init();
+
+	if (result != 0) {
+		PX4_WARN("error: RC sbus 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;
+
+	/*
+	 * Gather R/C control inputs from sbus
+	 */
+	bool sbus_failsafe, sbus_frame_drop;
+	uint16_t values[SBUS_INPUT_CHANNELS*2];
+	uint16_t num_values;
+
+	bool sbus_updated = sbus_input(_sbus_fd, values, &num_values, &sbus_failsafe, &sbus_frame_drop,
+					   _channels);
+
+	if (sbus_updated) {
+
+		if (num_values > 8) {
+			num_values = 8;
+		}
+
+		// assume r_raw_rc_count may be less than _channels
+		for (int i = 0; i < num_values; ++i) {
+			_data.values[i] = values[i];
+		}
+
+		ts = hrt_absolute_time();
+		_data.timestamp = ts;
+		_data.timestamp_last_signal = ts;
+		_data.channel_count = num_values;
+		_data.rssi = 100;
+		_data.rc_lost_frame_count = 0;
+		_data.rc_total_frame_count = 1;
+		_data.rc_ppm_frame_length = 100;
+		_data.rc_failsafe = sbus_failsafe;
+		_data.rc_lost = sbus_frame_drop;
+		_data.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_SBUS;
+
+		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: ocpoc_sbus_rc_in {start|stop|status}");
+}
+
+static RcInput *rc_input = nullptr;
+
+int ocpoc_sbus_rc_in_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 navio_sysfs_rc_in