1 files changed, 0 insertions, 248 deletions
diff --git a/apps/systemlib/ppm_decode.c b/apps/systemlib/ppm_decode.c
deleted file mode 100644
index a5d2f738d..000000000
--- a/apps/systemlib/ppm_decode.c
+++ /dev/null
@@ -1,248 +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 ppm_decode.c
- *
- * PPM input decoder.
- */
-
-#include <nuttx/config.h>
-
-#include <stdint.h>
-#include <string.h>
-
-#include <drivers/drv_hrt.h>
-
-#include "ppm_decode.h"
-
-/*
- * PPM decoder tuning parameters.
- *
- * The PPM decoder works as follows.
- *
- * Initially, the decoder waits in the UNSYNCH state for two edges
- * separated by PPM_MIN_START.  Once the second edge is detected,
- * the decoder moves to the ARM state.
- *
- * The ARM state expects an edge within PPM_MAX_PULSE_WIDTH, being the
- * timing mark for the first channel.  If this is detected, it moves to
- * the INACTIVE state.
- *
- * The INACTIVE phase waits for and discards the next edge, as it is not
- * significant.  Once the edge is detected, it moves to the ACTIVE stae.
- *
- * The ACTIVE state expects an edge within PPM_MAX_PULSE_WIDTH, and when
- * received calculates the time from the previous mark and records
- * this time as the value for the next channel.
- *
- * If at any time waiting for an edge, the delay from the previous edge
- * exceeds PPM_MIN_START the frame is deemed to have ended and the recorded
- * values are advertised to clients.
- */
-#define PPM_MAX_PULSE_WIDTH	500		/* maximum width of a pulse */
-#define PPM_MIN_CHANNEL_VALUE	800		/* shortest valid channel signal */
-#define PPM_MAX_CHANNEL_VALUE	2200		/* longest valid channel signal */
-#define PPM_MIN_START		2500		/* shortest valid start gap */
-
-/* Input timeout - after this interval we assume signal is lost */
-#define PPM_INPUT_TIMEOUT	100 * 1000	/* 100ms */
-
-/* Number of same-sized frames required to 'lock' */
-#define PPM_CHANNEL_LOCK	3		/* should be less than the input timeout */
-
-/* decoded PPM buffer */
-#define PPM_MIN_CHANNELS	4
-#define PPM_MAX_CHANNELS	12
-
-/*
- * Public decoder state
- */
-uint16_t	ppm_buffer[PPM_MAX_CHANNELS];
-unsigned	ppm_decoded_channels;
-hrt_abstime	ppm_last_valid_decode;
-
-static uint16_t ppm_temp_buffer[PPM_MAX_CHANNELS];
-
-/* PPM decoder state machine */
-static struct {
-	uint16_t	last_edge;	/* last capture time */
-	uint16_t	last_mark;	/* last significant edge */
-	unsigned	next_channel;
-	unsigned	count_max;
-	enum {
-		UNSYNCH = 0,
-		ARM,
-		ACTIVE,
-		INACTIVE
-	} phase;
-} ppm;
-
-
-void
-ppm_input_init(unsigned count_max)
-{
-	ppm_decoded_channels = 0;
-	ppm_last_valid_decode = 0;
-
-	memset(&ppm, 0, sizeof(ppm));
-	ppm.count_max = count_max;
-}
-
-void
-ppm_input_decode(bool reset, unsigned count)
-{
-	uint16_t width;
-	uint16_t interval;
-	unsigned i;
-
-	/* if we missed an edge, we have to give up */
-	if (reset)
-		goto error;
-
-	/* how long since the last edge? */
-	width = count - ppm.last_edge;
-
-	if (count < ppm.last_edge)
-		width += ppm.count_max;	/* handle wrapped count */
-
-	ppm.last_edge = count;
-
-	/*
-	 * If this looks like a start pulse, then push the last set of values
-	 * and reset the state machine.
-	 *
-	 * Note that this is not a "high performance" design; it implies a whole
-	 * frame of latency between the pulses being received and their being
-	 * considered valid.
-	 */
-	if (width >= PPM_MIN_START) {
-
-		/*
-		 * If the number of channels changes unexpectedly, we don't want
-		 * to just immediately jump on the new count as it may be a result
-		 * of noise or dropped edges.  Instead, take a few frames to settle.
-		 */
-		if (ppm.next_channel != ppm_decoded_channels) {
-			static unsigned new_channel_count;
-			static unsigned new_channel_holdoff;
-
-			if (new_channel_count != ppm.next_channel) {
-				/* start the lock counter for the new channel count */
-				new_channel_count = ppm.next_channel;
-				new_channel_holdoff = PPM_CHANNEL_LOCK;
-
-			} else if (new_channel_holdoff > 0) {
-				/* this frame matched the last one, decrement the lock counter */
-				new_channel_holdoff--;
-
-			} else {
-				/* we have seen PPM_CHANNEL_LOCK frames with the new count, accept it */
-				ppm_decoded_channels = new_channel_count;
-				new_channel_count = 0;
-			}
-
-		} else {
-			/* frame channel count matches expected, let's use it */
-			if (ppm.next_channel > PPM_MIN_CHANNELS) {
-				for (i = 0; i < ppm.next_channel; i++)
-					ppm_buffer[i] = ppm_temp_buffer[i];
-
-				ppm_last_valid_decode = hrt_absolute_time();
-			}
-		}
-
-		/* reset for the next frame */
-		ppm.next_channel = 0;
-
-		/* next edge is the reference for the first channel */
-		ppm.phase = ARM;
-
-		return;
-	}
-
-	switch (ppm.phase) {
-	case UNSYNCH:
-		/* we are waiting for a start pulse - nothing useful to do here */
-		return;
-
-	case ARM:
-
-		/* we expect a pulse giving us the first mark */
-		if (width > PPM_MAX_PULSE_WIDTH)
-			goto error;		/* pulse was too long */
-
-		/* record the mark timing, expect an inactive edge */
-		ppm.last_mark = count;
-		ppm.phase = INACTIVE;
-		return;
-
-	case INACTIVE:
-		/* this edge is not interesting, but now we are ready for the next mark */
-		ppm.phase = ACTIVE;
-
-		/* note that we don't bother looking at the timing of this edge */
-
-		return;
-
-	case ACTIVE:
-
-		/* we expect a well-formed pulse */
-		if (width > PPM_MAX_PULSE_WIDTH)
-			goto error;		/* pulse was too long */
-
-		/* determine the interval from the last mark */
-		interval = count - ppm.last_mark;
-		ppm.last_mark = count;
-
-		/* if the mark-mark timing is out of bounds, abandon the frame */
-		if ((interval < PPM_MIN_CHANNEL_VALUE) || (interval > PPM_MAX_CHANNEL_VALUE))
-			goto error;
-
-		/* if we have room to store the value, do so */
-		if (ppm.next_channel < PPM_MAX_CHANNELS)
-			ppm_temp_buffer[ppm.next_channel++] = interval;
-
-		ppm.phase = INACTIVE;
-		return;
-
-	}
-
-	/* the state machine is corrupted; reset it */
-
-error:
-	/* we don't like the state of the decoder, reset it and try again */
-	ppm.phase = UNSYNCH;
-	ppm_decoded_channels = 0;
-}
-