Rework the PX4IO software architecture:

 - Use a separate thread for handing R/C inputs and outputs.
 - Remove all PX4IO R/C receiver configuration; it's all automatic now.
 - Rework the main loop, dedicate it to PX4FMU communications after startup.
 - Fix several issues in the px4io driver that would cause a crash if PX4IO was not responding.

1 files changed, 88 insertions, 0 deletions

diff --git a/apps/px4io/controls.c b/apps/px4io/controls.c
new file mode 100644
index 000000000..d4eace3df
--- /dev/null
+++ b/apps/px4io/controls.c
@@ -0,0 +1,88 @@
+/****************************************************************************
+ *
+ *   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
+ * 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 controls.c
+ *
+ * R/C inputs and servo outputs.
+ */
+
+
+#include <nuttx/config.h>
+#include <stdio.h>
+#include <stdbool.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <debug.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <termios.h>
+#include <string.h>
+#include <poll.h>
+
+#include <nuttx/clock.h>
+
+#include <drivers/drv_hrt.h>
+#include <systemlib/hx_stream.h>
+#include <systemlib/perf_counter.h>
+
+#define DEBUG
+#include "px4io.h"
+
+void
+controls_main(void)
+{
+	struct pollfd fds[2];
+
+	fds[0].fd = dsm_init("/dev/ttyS0");
+	fds[0].events = POLLIN;
+
+
+	fds[1].fd = sbus_init("/dev/ttyS2");
+	fds[1].events = POLLIN;
+
+	for (;;) {
+		/* run this loop at ~100Hz */
+		poll(fds, 2, 10);
+
+		if (fds[0].revents & POLLIN)
+			dsm_input();
+		if (fds[1].revents & POLLIN)
+			sbus_input();
+
+		/* XXX do ppm processing, bypass mode, etc. here */
+
+		/* do PWM output updates */
+		mixer_tick();
+	}
+}