Moved all drivers to new world, PX4IO completely in new world

1 files changed, 0 insertions, 255 deletions

diff --git a/apps/px4io/sbus.c b/apps/px4io/sbus.c
deleted file mode 100644
index 073ddeaba..000000000
--- a/apps/px4io/sbus.c
+++ /dev/null
@@ -1,255 +0,0 @@
-/****************************************************************************
- *
- *   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 sbus.c
- *
- * Serial protocol decoder for the Futaba S.bus protocol.
- */
-
-#include <nuttx/config.h>
-
-#include <fcntl.h>
-#include <unistd.h>
-#include <termios.h>
-
-#include <systemlib/ppm_decode.h>
-
-#include <drivers/drv_hrt.h>
-
-#define DEBUG
-#include "px4io.h"
-#include "protocol.h"
-#include "debug.h"
-
-#define SBUS_FRAME_SIZE		25
-#define SBUS_INPUT_CHANNELS	16
-
-static int sbus_fd = -1;
-
-static hrt_abstime last_rx_time;
-static hrt_abstime last_frame_time;
-
-static uint8_t	frame[SBUS_FRAME_SIZE];
-
-static unsigned partial_frame_count;
-
-unsigned sbus_frame_drops;
-
-static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values);
-
-int
-sbus_init(const char *device)
-{
-	if (sbus_fd < 0)
-		sbus_fd = open(device, O_RDONLY | O_NONBLOCK);
-
-	if (sbus_fd >= 0) {
-		struct termios t;
-
-		/* 100000bps, even parity, two stop bits */
-		tcgetattr(sbus_fd, &t);
-		cfsetspeed(&t, 100000);
-		t.c_cflag |= (CSTOPB | PARENB);
-		tcsetattr(sbus_fd, TCSANOW, &t);
-
-		/* initialise the decoder */
-		partial_frame_count = 0;
-		last_rx_time = hrt_absolute_time();
-
-		debug("S.Bus: ready");
-
-	} else {
-		debug("S.Bus: open failed");
-	}
-
-	return sbus_fd;
-}
-
-bool
-sbus_input(uint16_t *values, uint16_t *num_values)
-{
-	ssize_t		ret;
-	hrt_abstime	now;
-
-	/*
-	 * The S.bus protocol doesn't provide reliable framing,
-	 * so we detect frame boundaries by the inter-frame delay.
-	 *
-	 * The minimum frame spacing is 7ms; with 25 bytes at 100000bps
-	 * frame transmission time is ~2ms.
-	 *
-	 * We expect to only be called when bytes arrive for processing,
-	 * and if an interval of more than 3ms passes between calls,
-	 * the first byte we read will be the first byte of a frame.
-	 *
-	 * In the case where byte(s) are dropped from a frame, this also
-	 * provides a degree of protection. Of course, it would be better
-	 * if we didn't drop bytes...
-	 */
-	now = hrt_absolute_time();
-
-	if ((now - last_rx_time) > 3000) {
-		if (partial_frame_count > 0) {
-			sbus_frame_drops++;
-			partial_frame_count = 0;
-		}
-	}
-
-	/*
-	 * Fetch bytes, but no more than we would need to complete
-	 * the current frame.
-	 */
-	ret = read(sbus_fd, &frame[partial_frame_count], SBUS_FRAME_SIZE - partial_frame_count);
-
-	/* if the read failed for any reason, just give up here */
-	if (ret < 1)
-		return false;
-
-	last_rx_time = now;
-
-	/*
-	 * Add bytes to the current frame
-	 */
-	partial_frame_count += ret;
-
-	/*
-	 * If we don't have a full frame, return
-	 */
-	if (partial_frame_count < SBUS_FRAME_SIZE)
-		return false;
-
-	/*
-	 * Great, it looks like we might have a frame.  Go ahead and
-	 * decode it.
-	 */
-	partial_frame_count = 0;
-	return sbus_decode(now, values, num_values);
-}
-
-/*
- * S.bus decoder matrix.
- *
- * Each channel value can come from up to 3 input bytes. Each row in the
- * matrix describes up to three bytes, and each entry gives:
- *
- * - byte offset in the data portion of the frame
- * - right shift applied to the data byte
- * - mask for the data byte
- * - left shift applied to the result into the channel value
- */
-struct sbus_bit_pick {
-	uint8_t byte;
-	uint8_t rshift;
-	uint8_t mask;
-	uint8_t lshift;
-};
-static const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3] = {
-	/*  0 */ { { 0, 0, 0xff, 0}, { 1, 0, 0x07, 8}, { 0, 0, 0x00,  0} },
-	/*  1 */ { { 1, 3, 0x1f, 0}, { 2, 0, 0x3f, 5}, { 0, 0, 0x00,  0} },
-	/*  2 */ { { 2, 6, 0x03, 0}, { 3, 0, 0xff, 2}, { 4, 0, 0x01, 10} },
-	/*  3 */ { { 4, 1, 0x7f, 0}, { 5, 0, 0x0f, 7}, { 0, 0, 0x00,  0} },
-	/*  4 */ { { 5, 4, 0x0f, 0}, { 6, 0, 0x7f, 4}, { 0, 0, 0x00,  0} },
-	/*  5 */ { { 6, 7, 0x01, 0}, { 7, 0, 0xff, 1}, { 8, 0, 0x03,  9} },
-	/*  6 */ { { 8, 2, 0x3f, 0}, { 9, 0, 0x1f, 6}, { 0, 0, 0x00,  0} },
-	/*  7 */ { { 9, 5, 0x07, 0}, {10, 0, 0xff, 3}, { 0, 0, 0x00,  0} },
-	/*  8 */ { {11, 0, 0xff, 0}, {12, 0, 0x07, 8}, { 0, 0, 0x00,  0} },
-	/*  9 */ { {12, 3, 0x1f, 0}, {13, 0, 0x3f, 5}, { 0, 0, 0x00,  0} },
-	/* 10 */ { {13, 6, 0x03, 0}, {14, 0, 0xff, 2}, {15, 0, 0x01, 10} },
-	/* 11 */ { {15, 1, 0x7f, 0}, {16, 0, 0x0f, 7}, { 0, 0, 0x00,  0} },
-	/* 12 */ { {16, 4, 0x0f, 0}, {17, 0, 0x7f, 4}, { 0, 0, 0x00,  0} },
-	/* 13 */ { {17, 7, 0x01, 0}, {18, 0, 0xff, 1}, {19, 0, 0x03,  9} },
-	/* 14 */ { {19, 2, 0x3f, 0}, {20, 0, 0x1f, 6}, { 0, 0, 0x00,  0} },
-	/* 15 */ { {20, 5, 0x07, 0}, {21, 0, 0xff, 3}, { 0, 0, 0x00,  0} }
-};
-
-static bool
-sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
-{
-	/* check frame boundary markers to avoid out-of-sync cases */
-	if ((frame[0] != 0x0f) || (frame[24] != 0x00)) {
-		sbus_frame_drops++;
-		return false;
-	}
-
-	/* if the failsafe or connection lost bit is set, we consider the frame invalid */
-	if ((frame[23] & (1 << 2)) && /* signal lost */
-	    (frame[23] & (1 << 3))) { /* failsafe */
-
-		/* actively announce signal loss */
-		*values = 0;
-		return false;
-	}
-
-	/* we have received something we think is a frame */
-	last_frame_time = frame_time;
-
-	unsigned chancount = (PX4IO_INPUT_CHANNELS > SBUS_INPUT_CHANNELS) ?
-			     SBUS_INPUT_CHANNELS : PX4IO_INPUT_CHANNELS;
-
-	/* use the decoder matrix to extract channel data */
-	for (unsigned channel = 0; channel < chancount; channel++) {
-		unsigned value = 0;
-
-		for (unsigned pick = 0; pick < 3; pick++) {
-			const struct sbus_bit_pick *decode = &sbus_decoder[channel][pick];
-
-			if (decode->mask != 0) {
-				unsigned piece = frame[1 + decode->byte];
-				piece >>= decode->rshift;
-				piece &= decode->mask;
-				piece <<= decode->lshift;
-
-				value |= piece;
-			}
-		}
-
-		/* convert 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */
-		values[channel] = (value / 2) + 998;
-	}
-
-	/* decode switch channels if data fields are wide enough */
-	if (PX4IO_INPUT_CHANNELS > 17 && chancount > 15) {
-		chancount = 18;
-
-		/* channel 17 (index 16) */
-		values[16] = (frame[23] & (1 << 0)) * 1000 + 998;
-		/* channel 18 (index 17) */
-		values[17] = (frame[23] & (1 << 1)) * 1000 + 998;
-	}
-
-	/* note the number of channels decoded */
-	*num_values = chancount;
-
-	return true;
-}