HAL_PX4: initial RCInput driver (overrides only)

libraries/AP_HAL_PX4/AP_HAL_PX4_Namespace.h

@@ -7,6 +7,7 @@ namespace PX4 {
 	class PX4Scheduler;
 	class PX4UARTDriver;
 	class PX4EEPROMStorage;
+	class PX4RCInput;
 }
 
 #endif //__AP_HAL_PX4_NAMESPACE_H__

libraries/AP_HAL_PX4/HAL_PX4_Class.cpp

@@ -11,6 +11,7 @@
 #include "Scheduler.h"
 #include "UARTDriver.h"
 #include "Storage.h"
+#include "RCInput.h"
 
 #include <AP_HAL_Empty.h>
 #include <AP_HAL_Empty_Private.h>
@@ -23,13 +24,13 @@ static Empty::EmptyI2CDriver  i2cDriver;
 static Empty::EmptySPIDeviceManager spiDeviceManager;
 static Empty::EmptyAnalogIn analogIn;
 static Empty::EmptyGPIO gpioDriver;
-static Empty::EmptyRCInput rcinDriver;
 static Empty::EmptyRCOutput rcoutDriver;
 static Empty::EmptyUtil utilInstance;
 
 static PX4ConsoleDriver consoleDriver;
 static PX4Scheduler schedulerInstance;
 static PX4EEPROMStorage storageDriver;
+static PX4RCInput rcinDriver;
 
 // only one real UART driver for now
 static PX4UARTDriver uartADriver("/dev/ttyS0");

libraries/AP_HAL_PX4/RCInput.cpp

@@ -0,0 +1,71 @@
+#include <AP_HAL.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+#include "RCInput.h"
+
+using namespace PX4;
+
+extern const AP_HAL::HAL& hal;
+
+PX4RCInput::PX4RCInput()
+{}
+
+void PX4RCInput::init(void* machtnichts)
+{
+	for (uint8_t i=0; i<PX4_NUM_RCINPUT_CHANNELS; i++) {
+		_override[i] = 1500;
+	}
+	// lower throttle
+	_override[2] = 1000;
+}
+
+uint8_t PX4RCInput::valid() {
+	return hal.scheduler->millis() - _last_read > 20;
+}
+
+uint16_t PX4RCInput::read(uint8_t ch) {
+	_last_read = hal.scheduler->millis();
+	return _override[ch];
+}
+
+uint8_t PX4RCInput::read(uint16_t* periods, uint8_t len) {
+	if (len > PX4_NUM_RCINPUT_CHANNELS) {
+		len = PX4_NUM_RCINPUT_CHANNELS;
+	}
+	for (uint8_t i = 0; i < len; i++){
+		periods[i] = read(i);
+	}
+	return len;
+}
+
+bool PX4RCInput::set_overrides(int16_t *overrides, uint8_t len) {
+	bool res = false;
+	for (uint8_t i = 0; i < len; i++) {
+		res |= set_override(i, overrides[i]);
+	}
+	return res;
+}
+
+bool PX4RCInput::set_override(uint8_t channel, int16_t override) {
+	if (override < 0) {
+		return false; /* -1: no change. */
+	}
+	if (channel < PX4_NUM_RCINPUT_CHANNELS) {
+		_override[channel] = override;
+		if (override != 0) {
+			return true;
+		}
+	}
+	return false;
+}
+
+void PX4RCInput::clear_overrides()
+{
+#if 0
+	for (uint8_t i = 0; i < PX4_NUM_RCINPUT_CHANNELS; i++) {
+		_override[i] = 0;
+	}
+#endif
+}
+
+#endif

libraries/AP_HAL_PX4/RCInput.h

@@ -0,0 +1,28 @@
+
+#ifndef __AP_HAL_PX4_RCINPUT_H__
+#define __AP_HAL_PX4_RCINPUT_H__
+
+#include <AP_HAL_PX4.h>
+
+#define PX4_NUM_RCINPUT_CHANNELS 8
+
+class PX4::PX4RCInput : public AP_HAL::RCInput {
+public:
+    PX4RCInput();
+    void init(void* machtnichts);
+    uint8_t  valid();
+    uint16_t read(uint8_t ch);
+    uint8_t read(uint16_t* periods, uint8_t len);
+
+    bool set_overrides(int16_t *overrides, uint8_t len);
+    bool set_override(uint8_t channel, int16_t override);
+    void clear_overrides();
+
+private:
+    /* override state */
+    uint16_t _override[PX4_NUM_RCINPUT_CHANNELS];
+    bool _pwm_valid;
+    uint32_t _last_read;
+};
+
+#endif // __AP_HAL_PX4_RCINPUT_H__