px4fmu move RC input to new rc_input driver

ROMFS/px4fmu_common/init.d/rc.interface

@@ -87,11 +87,6 @@ then
 		fi
 	fi
 
-	if [ $OUTPUT_MODE == tap_esc ]
-	then
-		set FMU_MODE rcin
-	fi
-
 	if [ $OUTPUT_MODE == fmu ]
 	then
 		if fmu mode_$FMU_MODE $FMU_ARGS

ROMFS/px4fmu_common/init.d/rcS

@@ -398,6 +398,11 @@ else
 		tune_control play -t 2
 	fi
 
+	if [ $IO_PRESENT == no -o $USE_IO == no ]
+	then
+		rc_input start
+	fi
+
 	#
 	# Sensors System (start before Commander so Preflight checks are properly run).
 	# Commander Needs to be this early for in-air-restarts.

cmake/configs/nuttx_aerocore2_default.cmake

@@ -24,6 +24,7 @@ set(config_module_list
 	modules/sensors
 	#drivers/pwm_input
 	#drivers/camera_trigger
+	drivers/rc_input
 
 	#
 	# System commands

cmake/configs/nuttx_aerofc-v1_default.cmake

@@ -17,6 +17,7 @@ set(config_module_list
 	drivers/px4fmu
 	drivers/stm32
 	drivers/pwm_out_sim
+	drivers/rc_input
 	drivers/tap_esc
 	modules/sensors
 

cmake/configs/nuttx_av-x-v1_default.cmake

@@ -23,6 +23,7 @@ set(config_module_list
 	drivers/pwm_out_sim
 	drivers/px4flow
 	drivers/px4fmu
+	drivers/rc_input
 	drivers/stm32
 	drivers/stm32/adc
 	drivers/tap_esc

cmake/configs/nuttx_mindpx-v2_default.cmake

@@ -29,6 +29,7 @@ set(config_module_list
 	drivers/px4flow
 	drivers/px4fmu
 	drivers/rgbled
+	drivers/rc_input
 	#drivers/rgbled_pwm
 	drivers/stm32
 	drivers/stm32/adc

cmake/configs/nuttx_nxphlite-v3_default.cmake

@@ -32,6 +32,7 @@ set(config_module_list
 	drivers/pwm_out_sim
 	drivers/px4flow
 	drivers/px4fmu
+	drivers/rc_input
 	drivers/rgbled
 	drivers/rgbled_pwm
 	drivers/tap_esc

cmake/configs/nuttx_omnibus-f4sd_default.cmake

@@ -20,6 +20,7 @@ set(config_module_list
 	drivers/gps
 	drivers/px4flow
 	drivers/px4fmu
+	drivers/rc_input
 	drivers/rgbled
 	drivers/stm32
 	drivers/stm32/adc

cmake/configs/nuttx_px4fmu-v4_default.cmake

@@ -27,6 +27,7 @@ set(config_module_list
 	drivers/px4flow
 	drivers/px4fmu
 	drivers/rgbled
+	drivers/rc_input
 	drivers/stm32
 	drivers/stm32/adc
 	drivers/stm32/tone_alarm

cmake/configs/nuttx_px4fmu-v5_default.cmake

@@ -15,24 +15,24 @@ set(config_module_list
 
 	drivers/batt_smbus
 	drivers/blinkm
+	drivers/camera_trigger
+	drivers/gps
 	drivers/imu/bma180
 	drivers/imu/bmi055
 	drivers/imu/bmi160
-	drivers/camera_trigger
-	drivers/gps
-	drivers/irlock
-	drivers/mkblctrl
 	drivers/imu/mpu6000
 	drivers/imu/mpu9250
+	drivers/irlock
+	drivers/mkblctrl
 	drivers/oreoled
 	drivers/pwm_input
 	drivers/pwm_out_sim
 	drivers/px4flow
 	drivers/px4fmu
 	drivers/px4io
+	drivers/rc_input
 	drivers/rgbled
-	# Enable the line below to put the three leds into PWM RGB mode
-	#drivers/rgbled_pwm
+	#drivers/rgbled_pwm # Enable to put the three leds into PWM RGB mode
 	drivers/stm32
 	drivers/stm32/adc
 	drivers/stm32/tone_alarm

cmake/configs/nuttx_tap-v1_default.cmake

@@ -14,6 +14,7 @@ set(config_module_list
 	drivers/imu/mpu6000
 	drivers/px4fmu
 	drivers/rgbled_pwm
+	drivers/rc_input
 	drivers/stm32
 	drivers/stm32/adc
 	drivers/stm32/tone_alarm

src/drivers/drv_pwm_output.h

@@ -190,10 +190,6 @@ struct pwm_output_rc_config {
 /** start DSM bind */
 #define DSM_BIND_START	_PX4_IOC(_PWM_SERVO_BASE, 10)
 
-#define DSM2_BIND_PULSES 3	/* DSM_BIND_START ioctl parameter, pulses required to start dsm2 pairing */
-#define DSMX_BIND_PULSES 7	/* DSM_BIND_START ioctl parameter, pulses required to start dsmx pairing */
-#define DSMX8_BIND_PULSES 9 	/* DSM_BIND_START ioctl parameter, pulses required to start 8 or more channel dsmx pairing */
-
 /** power up DSM receiver */
 #define DSM_BIND_POWER_UP _PX4_IOC(_PWM_SERVO_BASE, 11)
 

src/drivers/px4fmu/CMakeLists.txt

@@ -37,10 +37,8 @@ px4_add_module(
 	COMPILE_FLAGS
 	SRCS
 		fmu.cpp
-		crsf_telemetry.cpp
 	DEPENDS
 		circuit_breaker
 		mixer
-		rc
 		pwm_limit
 	)

src/drivers/px4io/px4io.cpp

@@ -67,6 +67,8 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_mixer.h>
 
+#include <rc/dsm.h>
+
 #include <lib/mixer/mixer.h>
 #include <perf/perf_counter.h>
 #include <systemlib/err.h>

src/drivers/rc_input/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2015 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__rc_input
+	MAIN rc_input
+	STACK_MAIN 1200
+	COMPILE_FLAGS
+	SRCS
+		RCInput.cpp
+		crsf_telemetry.cpp
+	DEPENDS
+		rc
+	)

src/drivers/rc_input/RCInput.hpp

@@ -0,0 +1,155 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <cfloat>
+
+#include <board_config.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_rc_input.h>
+#include <lib/rc/crsf.h>
+#include <lib/rc/dsm.h>
+#include <lib/rc/sbus.h>
+#include <lib/rc/st24.h>
+#include <lib/rc/sumd.h>
+#include <px4_config.h>
+#include <px4_getopt.h>
+#include <px4_log.h>
+#include <px4_module.h>
+#include <px4_workqueue.h>
+#include <uORB/topics/adc_report.h>
+#include <uORB/topics/input_rc.h>
+#include <uORB/topics/vehicle_command.h>
+
+#include "crsf_telemetry.h"
+
+#ifdef HRT_PPM_CHANNEL
+# include <systemlib/ppm_decode.h>
+#endif
+
+class RCInput : public ModuleBase<RCInput>
+{
+public:
+
+	RCInput(bool run_as_task);
+	virtual ~RCInput();
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static RCInput *instantiate(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	/** @see ModuleBase::run() */
+	void run() override;
+
+	/**
+	 * run the main loop: if running as task, continuously iterate, otherwise execute only one single cycle
+	 */
+	void cycle();
+
+	/** @see ModuleBase::print_status() */
+	int print_status() override;
+
+	int	init();
+
+private:
+	enum RC_SCAN {
+		RC_SCAN_PPM = 0,
+		RC_SCAN_SBUS,
+		RC_SCAN_DSM,
+		RC_SCAN_SUMD,
+		RC_SCAN_ST24,
+		RC_SCAN_CRSF
+	};
+	enum RC_SCAN _rc_scan_state = RC_SCAN_SBUS;
+
+	char const *RC_SCAN_STRING[6] = {
+		"PPM",
+		"SBUS",
+		"DSM",
+		"SUMD",
+		"ST24",
+		"CRSF"
+	};
+
+	hrt_abstime _rc_scan_begin{0};
+	bool _rc_scan_locked{false};
+	bool _report_lock{true};
+
+	hrt_abstime _cycle_timestamp{0};
+
+	unsigned	_current_update_rate{0};
+	bool 		_run_as_task{false};
+
+	static struct work_s	_work;
+
+	int		_vehicle_cmd_sub{-1};
+	int		_adc_sub{-1};
+
+	rc_input_values	_rc_in{};
+
+	float		_analog_rc_rssi_volt{-1.0f};
+	bool		_analog_rc_rssi_stable{false};
+
+	orb_advert_t	_to_input_rc{nullptr};
+
+	int		_rcs_fd{-1};
+
+	uint8_t _rcs_buf[SBUS_BUFFER_SIZE] {};
+
+	uint16_t _raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS] {};
+	uint16_t _raw_rc_count{};
+
+	CRSFTelemetry *_crsf_telemetry{nullptr};
+
+	static void	cycle_trampoline(void *arg);
+	int 		start();
+
+	void fill_rc_in(uint16_t raw_rc_count_local,
+			uint16_t raw_rc_values_local[input_rc_s::RC_INPUT_MAX_CHANNELS],
+			hrt_abstime now, bool frame_drop, bool failsafe,
+			unsigned frame_drops, int rssi);
+
+	void set_rc_scan_state(RC_SCAN _rc_scan_state);
+
+	void rc_io_invert(bool invert, uint32_t uxart_base);
+
+};

src/drivers/rc_input/crsf_telemetry.cpp

@@ -204,4 +204,3 @@ bool CRSFTelemetry::send_flight_mode()
 
 	return crsf_send_telemetry_flight_mode(_uart_fd, flight_mode);
 }
-

src/lib/rc/dsm.h

@@ -42,6 +42,8 @@
 #pragma once
 
 #include <stdint.h>
+
+#include <px4_config.h>
 #include <px4_defines.h>
 
 __BEGIN_DECLS
@@ -85,4 +87,8 @@ enum DSM_CMD {							/* DSM bind states */
 	DSM_CMD_BIND_REINIT_UART
 };
 
+#define DSM2_BIND_PULSES 3	/* DSM_BIND_START parameter, pulses required to start dsm2 pairing */
+#define DSMX_BIND_PULSES 7	/* DSM_BIND_START parameter, pulses required to start dsmx pairing */
+#define DSMX8_BIND_PULSES 9 /* DSM_BIND_START parameter, pulses required to start 8 or more channel dsmx pairing */
+
 __END_DECLS