Add initial structure for Snapdragon Spektrum input

src/platforms/posix/drivers/df_spektrum_rc/CMakeLists.txt

+############################################################################
+#
+#   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_directories(../../../../lib/DriverFramework/drivers)
+
+px4_add_module(
+	MODULE platforms__posix__drivers__df_spektrum_rc
+	MAIN df_spektrum_rc
+	SRCS
+		df_spektrum_rc.cpp
+	DEPENDS
+		platforms__common
+		df_driver_framework
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/platforms/posix/drivers/df_spektrum_rc/df_spektrum_rc.cpp

+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+
+/**
+ * @file df_spektrum_rc.cpp
+ *
+ * This is a wrapper around the Parrot Bebop bus driver of the DriverFramework. It sends the
+ * motor and contol commands to the Bebop and reads its status and informations.
+ */
+
+#include <stdint.h>
+
+#include <px4_tasks.h>
+#include <px4_getopt.h>
+#include <px4_posix.h>
+
+#include <errno.h>
+#include <string.h>
+#include <DevMgr.hpp>
+
+#include <lib/rc/dsm.h>
+#include <drivers/drv_rc_input.h>
+
+#define SPEKTRUM_UART_DEVICE_PATH	/dev/serialABC
+
+extern "C" { __EXPORT int df_spektrum_rc_main(int argc, char *argv[]); }
+
+namespace df_spektrum_rc
+{
+
+volatile bool _task_should_exit = false; // flag indicating if bebop esc control task should exit
+static bool _is_running = false;         // flag indicating if bebop esc  app is running
+static px4_task_t _task_handle = -1;     // handle to the task main thread
+
+int start();
+int stop();
+int info();
+void usage();
+void task_main(int argc, char *argv[]);
+
+void task_main(int argc, char *argv[])
+{
+	// publications
+	orb_advert_t    rc_pub = nullptr;
+	int rc_orb_class_instance = -1;
+	uint8_t _rcs_buf[50];
+
+	// important to keep these buffers out of the stack
+	// as they might need to be accumulated over multiple
+	// iterations of the inner loop
+	uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS];
+	uint16_t raw_rc_count;
+	unsigned frame_drops;
+	bool dsm_11_bit;
+
+	int uart_fd = dsm_init(SPEKTRUM_UART_DEVICE_PATH);
+
+	_is_running = true;
+
+	// Set up poll topic
+	px4_pollfd_struct_t fds[1];
+	fds[0].fd     = uart_fd;
+	fds[0].events = POLLIN;
+
+	// Main loop
+	while (!_task_should_exit) {
+
+		int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 10);
+
+		/* Timed out, do a periodic check for _task_should_exit. */
+		if (pret == 0) {
+			continue;
+		}
+
+		/* This is undesirable but not much we can do. */
+		if (pret < 0) {
+			PX4_WARN("poll error %d, %d", pret, errno);
+			/* sleep a bit before next try */
+			usleep(100000);
+			continue;
+		}
+
+		if (fds[0].revents & POLLIN) {
+
+			int newbytes = ::read(uart_fd, &_rcs_buf[0], SBUS_BUFFER_SIZE);
+
+			if (newbytes > 0) {
+
+				// parse new data
+				rc_updated = dsm_parse(_cycle_timestamp, &_rcs_buf[0], newbytes, &raw_rc_values[0], &raw_rc_count,
+						       &dsm_11_bit, &frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS);
+
+				if (rc_updated) {
+
+					// we have a new DSM frame. Publish it.
+					_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_DSM;
+					fill_rc_in(raw_rc_count, raw_rc_values, _cycle_timestamp,
+						   false, false, frame_drops);
+
+					if (rc_pub == nullptr) {
+						rc_pub = orb_advertise(ORB_ID(input_rc), &_rc_in);
+
+					} else {
+						orb_publish(ORB_ID(input_rc), rc_pub, &_rc_in);
+					}
+				}
+			}
+		}
+	}
+
+	orb_deadvertise(_rc_pub);
+
+	_is_running = false;
+
+}
+
+int start()
+{
+	// Start the task to handle RC
+	ASSERT(_task_handle == -1);
+
+	/* start the task */
+	_task_handle = px4_task_spawn_cmd("spektrum_rc_main",
+					  SCHED_DEFAULT,
+					  SCHED_PRIORITY_DEFAULT,
+					  2000,
+					  (px4_main_t)&task_main,
+					  nullptr);
+
+	if (_task_handle < 0) {
+		warn("task start failed");
+		return -1;
+	}
+
+	_is_running = true;
+	return 0;
+}
+
+int stop()
+{
+	// Stop bebop motor control task
+	_task_should_exit = true;
+
+	while (_is_running) {
+		usleep(200000);
+		PX4_INFO(".");
+	}
+
+	_task_handle = -1;
+	return 0;
+}
+
+/**
+ * Print a little info about the driver.
+ */
+int
+info()
+{
+	PX4_INFO("info");
+
+	return 0;
+}
+
+void
+usage()
+{
+	PX4_INFO("Usage: df_spektrum_rc 'start', 'info', 'stop'");
+}
+
+} /* df_spektrum_rc */
+
+
+int
+df_spektrum_rc_main(int argc, char *argv[])
+{
+	int ret = 0;
+	int myoptind = 1;
+
+	if (argc <= 1) {
+		df_spektrum_rc::usage();
+		return 1;
+	}
+
+	const char *verb = argv[myoptind];
+
+
+	if (!strcmp(verb, "start")) {
+		ret = df_spektrum_rc::start();
+	}
+
+	else if (!strcmp(verb, "stop")) {
+		ret = df_spektrum_rc::stop();
+	}
+
+	else if (!strcmp(verb, "info")) {
+		ret = df_spektrum_rc::info();
+	}
+
+	else {
+		df_spektrum_rc::usage();
+		return 1;
+	}
+
+	return ret;
+}