mirror of https://github.com/ArduPilot/ardupilot
75 lines
2.1 KiB
C++
75 lines
2.1 KiB
C++
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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this is a driver for DSM input in the QFLIGHT board. It could be
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extended to other boards in future by providing an open/read/write
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abstraction
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
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#include "RCInput_DSM.h"
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#include <AP_HAL_Linux/qflight/qflight_util.h>
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#include <AP_HAL_Linux/qflight/qflight_dsp.h>
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#include <stdio.h>
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extern const AP_HAL::HAL& hal;
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using namespace Linux;
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void RCInput_DSM::init()
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{
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}
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void RCInput_DSM::set_device_path(const char *path)
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{
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device_path = path;
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printf("Set DSM device path %s\n", path);
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}
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void RCInput_DSM::_timer_tick(void)
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{
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if (device_path == nullptr) {
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return;
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}
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int ret;
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/*
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we defer the open to the timer tick to ensure all RPC calls are
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made in the same thread
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*/
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if (fd == -1) {
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ret = qflight_UART_open(device_path, &fd);
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if (ret == 0) {
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printf("Opened DSM input %s fd=%d\n", device_path, (int)fd);
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fflush(stdout);
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qflight_UART_set_baudrate(fd, 115200);
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}
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}
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if (fd != -1) {
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uint8_t bytes[16];
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int32_t nread;
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ret = qflight_UART_read(fd, bytes, sizeof(bytes), &nread);
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if (ret == 0 && nread > 0) {
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// printf("Read %u DSM bytes at %u\n", (unsigned)nread, AP_HAL::millis());
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fflush(stdout);
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add_dsm_input(bytes, nread);
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}
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}
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}
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#endif // CONFIG_HAL_BOARD_SUBTYPE
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