AP_RCProtocol: added cmdline RC decoder program

libraries/AP_RCProtocol/examples/RCProtocolDecoder/RCProtocolDecoder.cpp

@@ -0,0 +1,119 @@
+/*
+ * This file is free software: you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  decode RC input using SITL on command line
+ */
+
+#include <AP_HAL/AP_HAL.h>
+
+const AP_HAL::HAL& hal = AP_HAL::get_HAL();
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_SITL
+
+#include <AP_RCProtocol/AP_RCProtocol.h>
+#include <stdio.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <time.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <termios.h>
+#include <string.h>
+#include <errno.h>
+
+void setup();
+void loop();
+
+
+static AP_RCProtocol *rcprot;
+
+// change this to the device being tested.
+const char *devname = "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_A10596TP-if00-port0";
+const uint32_t baudrate = 115200;
+
+static int fd;
+
+// setup routine
+void setup()
+{
+    // introduction
+    hal.console->printf("ArduPilot RC protocol decoder\n");
+    hal.scheduler->delay(100);
+
+    fd = open(devname, O_RDONLY|O_CLOEXEC);
+    if (fd == -1) {
+        perror(devname);
+        exit(1);
+    }
+
+    struct termios options;
+
+    tcgetattr(fd, &options);
+    cfsetspeed(&options, baudrate);
+    tcgetattr(fd, &options);
+
+    if (baudrate == 100000) {
+        // SBUS: 100000bps, even parity, two stop bits
+        options.c_cflag |= (CSTOPB | PARENB);
+    } else {
+        // DSM: 115200, one stop, no parity
+        options.c_cflag &= ~(PARENB|CSTOPB|CSIZE);
+        options.c_cflag |= CS8;
+
+    }
+    options.c_lflag &= ~(ICANON|ECHO|ECHOE|ISIG);
+    options.c_iflag &= ~(IXON|IXOFF|IXANY);
+    options.c_oflag &= ~OPOST;
+    if (tcsetattr(fd, TCSANOW, &options) != 0) {
+        perror("tcsetattr");
+        exit(1);
+    }
+    tcflush(fd, TCIOFLUSH);
+
+    rcprot = new AP_RCProtocol();
+    rcprot->init();
+}
+
+//Main loop where the action takes place
+void loop()
+{
+    uint8_t buf[32];
+    ssize_t ret = read(fd, buf, sizeof(buf));
+    if (ret <= 0) {
+        return;
+    }
+    for (uint8_t i=0; i<ret; i++) {
+        rcprot->process_byte(buf[i], 115200);
+        if (rcprot->new_input()) {
+            uint8_t nchan = rcprot->num_channels();
+            printf("%u: ", nchan);
+            for (uint8_t j=0; j<nchan; j++) {
+                uint16_t v = rcprot->read(j);
+                printf("%04u ", v);
+            }
+            printf("\n");
+        }
+    }
+}
+
+#else
+// dummy implementation
+void setup() {}
+void loop() {}
+
+#endif // CONFIG_HAL_BOARD
+
+AP_HAL_MAIN();

libraries/AP_RCProtocol/examples/RCProtocolDecoder/wscript

@@ -0,0 +1,7 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+def build(bld):
+    bld.ap_example(
+        use='ap',
+    )