1 files changed, 0 insertions, 373 deletions
diff --git a/nuttx/configs/px4io/src/drv_ppm_input.c b/nuttx/configs/px4io/src/drv_ppm_input.c
deleted file mode 100644
index 2db0fbf0b..000000000
--- a/nuttx/configs/px4io/src/drv_ppm_input.c
+++ /dev/null
@@ -1,373 +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 input decoder.
- *
- * Works in conjunction with the HRT driver.
- */
-
-
-#include <nuttx/config.h>
-#include <nuttx/arch.h>
-#include <nuttx/irq.h>
-
-#include <sys/types.h>
-#include <stdbool.h>
-
-#include <assert.h>
-#include <debug.h>
-#include <time.h>
-#include <queue.h>
-#include <errno.h>
-#include <string.h>
-#include <stdio.h>
-#include <fcntl.h>
-
-#include <arch/board/board.h>
-#include <arch/board/drv_ppm_input.h>
-#include <arch/board/up_hrt.h>
-
-#include "chip.h"
-#include "up_internal.h"
-#include "up_arch.h"
-
-#include "stm32_internal.h"
-#include "stm32_gpio.h"
-#include "stm32_tim.h"
-
-#ifdef CONFIG_HRT_PPM
-# ifndef CONFIG_HRT_TIMER
-#  error CONFIG_HRT_PPM requires CONFIG_HRT_TIMER
-# endif
-
-/*
- * 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
-static uint16_t ppm_buffer[PPM_MAX_CHANNELS];
-static unsigned ppm_decoded_channels;
-
-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;
-	enum {
-		UNSYNCH = 0,
-		ARM,
-		ACTIVE,
-		INACTIVE
-	} phase;
-} ppm;
-
-/* last time we got good data */
-static hrt_abstime ppm_timestamp;
-
-#ifndef CONFIG_DISABLE_MQUEUE
-/* message queue we advertise PPM data on */
-static mqd_t ppm_message_queue;
-#endif
-
-/* set if PPM data has not been read */
-static bool ppm_fresh_data;
-
-/* PPM device node file ops */
-
-static int ppm_read(struct file *filp, char *buffer, size_t len);
-static int ppm_ioctl(struct file *filp, int cmd, unsigned long arg);
-
-static const struct file_operations ppm_fops = {
-	.read = ppm_read,
-	.ioctl = ppm_ioctl
-};
-
-/*
- * Initialise the PPM system for client use.
- */
-int
-ppm_input_init(const char *mq_name)
-{
-	int	err;
-
-	/* configure the PPM input pin */
-	stm32_configgpio(GPIO_PPM_IN);
-
-	/* and register the device node */
-	if (OK != (err = register_driver(PPM_DEVICE_NODE, &ppm_fops, 0666, NULL)))
-		return err;
-
-#ifndef CONFIG_DISABLE_MQUEUE
-	if (mq_name != NULL) {
-		/* create the message queue */
-		struct mq_attr attr = {
-			.mq_maxmsg = 1,
-			.mq_msgsize = sizeof(ppm_buffer)
-		};
-		ppm_message_queue = mq_open(mq_name, O_WRONLY | O_CREAT | O_NONBLOCK, 0666, &attr);
-		if (ppm_message_queue < 0)
-			return -errno;
-	}
-#endif
-
-	return OK;
-}
-
-/*
- * Handle the PPM decoder state machine.
- */
-void
-ppm_input_decode(bool reset, uint16_t 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;
-	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 int new_channel_count;
-			static int 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_timestamp = hrt_absolute_time();
-				ppm_fresh_data = true;
-#ifndef CONFIG_DISABLE_MQUEUE
-				/* advertise the new data to the message queue */
-				mq_send(ppm_message_queue, ppm_buffer, ppm_decoded_channels * sizeof(ppm_buffer[0]), 0);
-#endif
-			}
-		}
-
-		/* 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;
-}
-
-static int
-ppm_read(struct file *filp, char *buffer, size_t len)
-{
-	size_t avail;
-
-	/* the size of the returned data indicates the number of channels */
-	avail = ppm_decoded_channels * sizeof(ppm_buffer[0]);
-
-	/* if we have not decoded a frame, that's an I/O error */
-	if (avail == 0)
-		return -EIO;
-
-	/* if the caller's buffer is too small, that's also bad */
-	if (len < avail)
-		return -EFBIG;
-
-	/* if the caller doesn't want to block, and there is no fresh data, that's EWOULDBLOCK */
-	if ((filp->f_oflags & O_NONBLOCK) && (!ppm_fresh_data))
-		return -EWOULDBLOCK;
-
-	/*
-	 * Return the channel data.
-	 *
-	 * Note that we have to block the HRT while copying to avoid the
-	 * possibility that we'll get interrupted in the middle of copying 
-	 * a single value.
-	 */
-	irqstate_t flags = irqsave();
-
-	memcpy(buffer, ppm_buffer, avail);
-	ppm_fresh_data = false;
-
-	irqrestore(flags);
-
-	return OK;
-}
-
-static int
-ppm_ioctl(struct file *filp, int cmd, unsigned long arg)
-{
-	switch (cmd) {
-	case PPM_INPUT_STATUS:
-		/* if we have received a frame within the timeout, the signal is "good" */
-		if ((hrt_absolute_time() - ppm_timestamp) < PPM_INPUT_TIMEOUT) {
-			*(ppm_input_status_t *)arg = PPM_STATUS_SIGNAL_CURRENT;
-		} else {
-			/* reset the number of channels so that any attempt to read data will fail */
-			ppm_decoded_channels = 0;
-			*(ppm_input_status_t *)arg = PPM_STATUS_NO_SIGNAL;
-		}
-		return OK;
-
-	case PPM_INPUT_CHANNELS:
-		*(ppm_input_channel_count_t *)arg = ppm_decoded_channels;
-		return OK;
-
-	default:
-		return -ENOTTY;
-	}
-
-}
-
-#endif /* CONFIG_HRT_PPM */
-
-