Taranis sbus support

.gitignore

@@ -6,6 +6,7 @@
 .project
 .metadata
 bin/
+library/lib/
 tmp/
 *.tmp
 *.bak

CHANGELOG

@@ -1,3 +1,6 @@
+1.0.5
+    * add support for Taranis SBUS remote control.
+
 1.0.4
     * fix missing stddef.h include in i2c.h
     * add kmartin36's PRU encoder robustness improvement
@@ -187,4 +190,4 @@
 0.1.0
     * installs on Blue as well and Black
 
-// indentation is with spaces to allow copy/paste into debian/changelog
+// indentation is with spaces to allow copy/paste into debian/changelog

debian/changelog

@@ -1,3 +1,8 @@
+librobotcontrol (1.0.5) stable; urgency=low
+    * add support for Taranis SBUS remote control.
+ -- Per Dalgas Jakobsen <pdj@knaldgas.dk>  Mon, 4 Mar 2019 16:04:00 +0000
+
+
 librobotcontrol (1.0.4) stable; urgency=low
     * fix missing stddef.h include in i2c.h
     * add kmartin36's PRU encoder robustness improvement

examples/src/rc_calibrate_sbus.c

@@ -0,0 +1,29 @@
+/**
+ * @example    rc_calibrate_sbus.c
+ *
+ * Running the rc_calibrate_sbus example will print out raw data to
+ * the console and record the min and max values for each
+ * channel. These limits will be saved to disk so future sbus reads
+ * will be scaled correctly.
+ *
+ * Make sure the transmitter and receiver are paired before
+ * testing. The satellite receiver remembers which transmitter it is
+ * paired to, not your BeagleBone.
+ */
+
+#include <stdio.h>
+#include <rc/sbus.h>
+
+int main()
+{
+	printf("Please connect a SBUS satellite receiver and make sure\n");
+	printf("your transmitter is on and paired to the receiver.\n");
+	printf("\n");
+	printf("Press ENTER to continue or anything else to quit\n");
+	getchar();
+
+	// run the calibration routine
+	rc_sbus_calibrate_routine();
+
+	return 0;
+}

examples/src/rc_dsm_passthrough.c

@@ -118,6 +118,11 @@ int main(int argc, char *argv[])
 			return -1;
 		}
 		rc_adc_cleanup();
+
+		if(rc_servo_init ()){
+			fprintf(stderr,"failed to initialize servos\n");
+			return -1;
+		}
 		if(rc_servo_power_rail_en(1)){
 			fprintf(stderr,"failed to enable power rail\n");
 			return -1;
@@ -153,6 +158,11 @@ int main(int argc, char *argv[])
 		rc_usleep(25000);
 	}
 	printf("\n");
+
+	if(mode == POWERON){
+		rc_servo_cleanup ();
+	}
 	rc_dsm_cleanup();
+
 	return 0;
-}
+}

examples/src/rc_sbus_passthrough.c

@@ -0,0 +1,173 @@
+/**
+ * @example    rc_sbus_passthrough.c
+ *
+ * This sends all sbus data straight out the servo channels as they
+ * come in. When running this program the BBB acts exactly like a
+ * normal SBUS receiver.
+ *
+ * You must specify SERVO or ESC mode with -s or -e to turn om or off
+ * the 6V power rail. Sending 6V into an ESC may damage it!!!
+ *
+ * Raw data is also printed to the terminal for monitoring.
+ */
+
+#include <stdio.h>
+#include <getopt.h>
+#include <signal.h>
+#include <rc/sbus.h>
+#include <rc/servo.h>
+#include <rc/time.h>
+#include <rc/adc.h>
+
+static int running;
+
+typedef enum p_mode_t{
+	NONE,
+	POWERON,
+	POWEROFF
+} p_mode_t;
+
+// function to be called every time new a new SBUS packet is received.
+static void __send_pulses(void)
+{
+	int i, val;
+
+	// send single to working channels
+	for(i=1; i<=8; i++){
+		val=rc_sbus_ch_raw(i);
+		if(val>0) rc_servo_send_pulse_us(i,val);
+	}
+
+	// print all channels
+	printf("\r");
+	for(i=1;i<=RC_MAX_SBUS_ANALOG_CHANNELS;i++){
+		val = rc_sbus_ch_raw(i);
+		if (val != 0) {
+			printf("% 4d   ", val);
+		}
+	}
+	for(i=1;i<=RC_MAX_SBUS_BINARY_CHANNELS;i++){
+		printf("% 1d   ", rc_sbus_ch_binary(i));
+	}
+	fflush(stdout);
+	return;
+}
+
+// interrupt handler to catch ctrl-c
+static void __signal_handler(__attribute__ ((unused)) int dummy)
+{
+	running=0;
+	return;
+}
+
+
+// printed if some invalid argument was given
+static void __print_usage(void)
+{
+	printf("\n");
+	printf(" Options\n");
+	printf(" -s   Enable 6V power rail for servos.\n");
+	printf(" -e   Disable 6V power rail for ESCs.\n");
+	printf(" -h   Print this messege.\n\n");
+	return;
+}
+
+// main routine
+int main(int argc, char *argv[])
+{
+	int c;
+	p_mode_t mode = NONE;
+
+	// parse arguments
+	opterr = 0;
+	while ((c = getopt(argc, argv, "seh")) != -1){
+		switch (c){
+
+		case 's': // enable power for servos
+			mode = POWERON;
+			break;
+
+		case 'e': // disbable power for ESCs
+			mode = POWEROFF;
+			break;
+
+		case 'h': // show help messege
+			__print_usage();
+			return -1;
+			break;
+
+		default:
+			fprintf(stderr,"Invalid Argument \n");
+			__print_usage();
+			return -1;
+		}
+	}
+
+	if(mode == NONE){
+		fprintf(stderr,"You must select a power mode -s or -e\n");
+		__print_usage();
+		return -1;
+	}
+
+	if(rc_sbus_init()==-1) return -1;
+
+	// if power has been requested, make sure battery is connected!
+	if(mode == POWERON){
+		// read adc to make sure battery is connected
+		if(rc_adc_init()){
+			fprintf(stderr,"ERROR: failed to run rc_adc_init()\n");
+			return -1;
+		}
+		if(rc_adc_batt()<6.0){
+			fprintf(stderr,"ERROR: battery disconnected or insufficiently charged to drive motors\n");
+			return -1;
+		}
+		rc_adc_cleanup();
+
+		if(rc_servo_init ()){
+			fprintf(stderr,"failed to initialize servos\n");
+			return -1;
+		}
+		if(rc_servo_power_rail_en(1)){
+			fprintf(stderr,"failed to enable power rail\n");
+			return -1;
+		}
+	}
+
+	// print header
+	printf("1:Thr   ");
+	printf("2:Roll  ");
+	printf("3:Pitch ");
+	printf("4:Yaw   ");
+	printf("5:Kill  ");
+	printf("6:Mode  ");
+	printf("7:Aux1  ");
+	printf("8:Aux2  ");
+	printf("\n");
+
+	printf("Waiting for SBUS Connection");
+	fflush(stdout);
+
+	// set signal handler so the loop can exit cleanly
+	signal(SIGINT, __signal_handler);
+	running=1;
+
+	rc_sbus_set_callback(&__send_pulses);
+	while(running){
+		if(rc_sbus_is_connection_active()==0){
+			printf("\rSeconds since last SBUS packet: ");
+			printf("%0.1f ", rc_sbus_nanos_since_last_packet()/1000000000.0);
+			printf("                             ");
+			fflush(stdout);
+		}
+		rc_usleep(25000);
+	}
+	printf("\n");
+
+	if(mode == POWERON){
+	  	rc_servo_cleanup ();
+	}
+	rc_sbus_cleanup();
+
+	return 0;
+}