ardupilot/libraries/AP_HAL_Linux/RCInput_UART.cpp

105 lines
2.1 KiB
C++
Raw Normal View History

#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include "RCInput_UART.h"
#include <errno.h>
#include <fcntl.h>
#include <inttypes.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <termios.h>
#include <unistd.h>
#define MAGIC 0x55AA
static const AP_HAL::HAL& hal = AP_HAL::get_HAL();
using namespace Linux;
RCInput_UART::RCInput_UART(const char *path)
{
char s[256];
_fd = open(path, O_RDONLY|O_NOCTTY|O_NONBLOCK|O_NDELAY);
if (_fd < 0) {
snprintf(s, sizeof(s), "Error opening '%s': %s",
path, strerror(errno));
hal.scheduler->panic(s);
}
}
RCInput_UART::~RCInput_UART()
{
close(_fd);
}
void RCInput_UART::init(void*)
{
char s[256];
struct termios options;
tcgetattr(_fd, &options);
cfsetispeed(&options, B115200);
cfsetospeed(&options, B115200);
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) {
snprintf(s, sizeof(s), "RCInput_UART: error configuring device: %s",
strerror(errno));
hal.scheduler->panic(s);
}
tcflush(_fd, TCIOFLUSH);
_pdata = (uint8_t *)&_data;
_remain = sizeof(_data);
}
void RCInput_UART::_timer_tick()
{
ssize_t n;
if ((n = ::read(_fd, _pdata, _remain)) <= 0)
return;
_remain -= n;
_pdata += n;
if (_remain != 0)
return;
if (_data.magic != MAGIC) {
/* try to find the magic number and move
* it to the beggining of our buffer */
uint16_t magic = MAGIC;
_pdata = (uint8_t *)memmem(&_data, sizeof(_data), &magic, sizeof(magic));
if (!_pdata)
_pdata = (uint8_t *)&_data + sizeof(_data) - 1;
_remain = _pdata - (uint8_t *)&_data;
n = sizeof(_data) - _remain;
memmove(&_data, _pdata, n);
_pdata = (uint8_t *)&_data + n;
return;
}
_update_periods(_data.values, CHANNELS);
_pdata = (uint8_t *)&_data;
_remain = sizeof(_data);
}
#endif