ardupilot/libraries/AP_HAL_Linux/RCInput_RCProtocol.cpp

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/*
This program 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 program 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/>.
*/
/*
this is a driver for multiple RCInput methods on one board
*/
#include <AP_HAL/AP_HAL.h>
#include <stdio.h>
#include <fcntl.h>
#include <unistd.h>
#include <errno.h>
#include <sys/ioctl.h>
#include <asm/termbits.h>
#include "RCInput_RCProtocol.h"
#include <GCS_MAVLink/GCS.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
extern const AP_HAL::HAL& hal;
using namespace Linux;
/*
open a SBUS UART
*/
int RCInput_RCProtocol::open_sbus(const char *path)
{
int fd = open(path, O_RDWR | O_NONBLOCK | O_CLOEXEC);
if (fd == -1) {
return -1;
}
struct termios2 tio {};
if (ioctl(fd, TCGETS2, &tio) != 0) {
close(fd);
fd = -1;
return -1;
}
tio.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR
| IGNCR | ICRNL | IXON);
tio.c_iflag |= (INPCK | IGNPAR);
tio.c_oflag &= ~OPOST;
tio.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
tio.c_cflag &= ~(CSIZE | CRTSCTS | PARODD | CBAUD);
// use BOTHER to specify speed directly in c_[io]speed member
tio.c_cflag |= (CS8 | CSTOPB | CLOCAL | PARENB | BOTHER | CREAD);
tio.c_ispeed = 100000;
tio.c_ospeed = 100000;
if (ioctl(fd, TCSETS2, &tio) != 0) {
close(fd);
fd = -1;
return -1;
}
return fd;
}
/*
open a 115200 UART
*/
int RCInput_RCProtocol::open_115200(const char *path)
{
int fd = open(path, O_RDWR | O_NONBLOCK | O_CLOEXEC);
if (fd == -1) {
return -1;
}
struct termios2 tio {};
if (ioctl(fd, TCGETS2, &tio) != 0) {
close(fd);
fd = -1;
return -1;
}
tio.c_cflag &= ~(PARENB|CSTOPB|CSIZE|CBAUD);
tio.c_cflag |= CS8 | CREAD | CLOCAL | B115200;
tio.c_lflag &= ~(ICANON|ECHO|ECHOE|ISIG);
tio.c_iflag &= ~(IXON|IXOFF|IXANY);
tio.c_iflag &= ~(INLCR|ICRNL|IGNCR|IUCLC|BRKINT);
tio.c_oflag &= ~OPOST;
if (ioctl(fd, TCSETS2, &tio) != 0) {
close(fd);
fd = -1;
return -1;
}
return fd;
}
// constructor
RCInput_RCProtocol::RCInput_RCProtocol(const char *_dev_inverted, const char *_dev_115200) :
dev_inverted(_dev_inverted),
dev_115200(_dev_115200)
{
}
void RCInput_RCProtocol::init()
{
if (dev_inverted) {
fd_inverted = open_sbus(dev_inverted);
} else {
fd_inverted = -1;
}
inverted_is_115200 = false;
if (dev_115200) {
fd_115200 = open_115200(dev_115200);
} else {
fd_115200 = -1;
}
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AP::RC().init();
printf("SBUS FD %d 115200 FD %d\n", fd_inverted, fd_115200);
}
void RCInput_RCProtocol::_timer_tick(void)
{
uint8_t b[80];
if (fd_inverted != -1) {
ssize_t n = ::read(fd_inverted, &b[0], sizeof(b));
if (n > 0) {
for (uint8_t i=0; i<n; i++) {
AP::RC().process_byte(b[i], inverted_is_115200?115200:100000);
}
}
}
if (fd_115200 != -1) {
ssize_t n = ::read(fd_115200, &b[0], sizeof(b));
if (n > 0 && !inverted_is_115200) {
for (uint8_t i=0; i<n; i++) {
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AP::RC().process_byte(b[i], 115200);
}
}
}
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if (AP::RC().new_input()) {
last_frame_ms = AP_HAL::millis();
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uint8_t n = AP::RC().num_channels();
for (uint8_t i=0; i<n; i++) {
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_pwm_values[i] = AP::RC().read(i);
}
_num_channels = n;
rc_input_count++;
}
uint32_t now = AP_HAL::millis();
if (fd_inverted != -1 && now - last_frame_ms > 2000) {
// no inverted data for 2s, flip baudrate
close(fd_inverted);
inverted_is_115200 = !inverted_is_115200;
if (inverted_is_115200) {
fd_inverted = open_115200(dev_inverted);
} else {
fd_inverted = open_sbus(dev_inverted);
}
last_frame_ms = now;
}
}
#endif // HAL