Build test code for S.BUS output, send test characters once S.BUS1 or S.BUS2 is enabled

3 files changed, 29 insertions, 1 deletions

diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index f39fcf7ec..3eaecc38b 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -254,10 +254,24 @@ mixer_tick(void)
 		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++)
 			up_pwm_servo_set(i, r_page_servos[i]);
 
+		/* set S.BUS1 or S.BUS2 outputs */
+		if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT)
+			sbus1_output(r_page_servos, PX4IO_SERVO_COUNT);
+
+		if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT)
+			sbus2_output(r_page_servos, PX4IO_SERVO_COUNT);
+
 	} else if (mixer_servos_armed && should_always_enable_pwm) {
 		/* set the disarmed servo outputs. */
 		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++)
 			up_pwm_servo_set(i, r_page_servo_disarmed[i]);
+
+		/* set S.BUS1 or S.BUS2 outputs */
+		if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT)
+			sbus1_output(r_page_servos, PX4IO_SERVO_COUNT);
+
+		if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT)
+			sbus2_output(r_page_servos, PX4IO_SERVO_COUNT);
 	}
 }
 
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index bb224f388..0e9fee8ae 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -218,6 +218,8 @@ extern bool	dsm_input(uint16_t *values, uint16_t *num_values);
 extern void	dsm_bind(uint16_t cmd, int pulses);
 extern int	sbus_init(const char *device);
 extern bool	sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels);
+extern bool	sbus1_output(uint16_t *values, uint16_t num_values);
+extern bool	sbus2_output(uint16_t *values, uint16_t num_values);
 
 /** global debug level for isr_debug() */
 extern volatile uint8_t debug_level;
diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c
index f6ec542eb..86240d36a 100644
--- a/src/modules/px4iofirmware/sbus.c
+++ b/src/modules/px4iofirmware/sbus.c
@@ -93,7 +93,7 @@ int
 sbus_init(const char *device)
 {
 	if (sbus_fd < 0)
-		sbus_fd = open(device, O_RDONLY | O_NONBLOCK);
+		sbus_fd = open(device, O_RDWR | O_NONBLOCK);
 
 	if (sbus_fd >= 0) {
 		struct termios t;
@@ -118,6 +118,18 @@ sbus_init(const char *device)
 }
 
 bool
+sbus1_output(uint16_t *values, uint16_t num_values)
+{
+	write(sbus_fd, 'A', 1);
+}
+
+bool
+sbus2_output(uint16_t *values, uint16_t num_values)
+{
+	write(sbus_fd, 'B', 1);
+}
+
+bool
 sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels)
 {
 	ssize_t		ret;