ardupilot/libraries/AP_HAL_Linux/RCInput_Raspilot.cpp

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#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
#include <stdio.h>
#include <errno.h>
#include <stdlib.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <assert.h>
#include "RCInput_Raspilot.h"
#include "px4io_protocol.h"
static const AP_HAL::HAL& hal = AP_HAL::get_HAL();
using namespace Linux;
void RCInput_Raspilot::init()
{
_spi = hal.spi->device(AP_HAL::SPIDevice_RASPIO);
_spi_sem = _spi->get_semaphore();
if (_spi_sem == NULL) {
AP_HAL::panic("PANIC: RCIutput_Raspilot did not get "
"valid SPI semaphore!");
return; // never reached
}
// start the timer process to read samples
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&RCInput_Raspilot::_poll_data, void));
}
void RCInput_Raspilot::_poll_data(void)
{
// Throttle read rate to 100hz maximum.
if (AP_HAL::micros() - _last_timer < 10000) {
return;
}
_last_timer = AP_HAL::micros();
if (!_spi_sem->take_nonblocking()) {
return;
}
struct IOPacket _dma_packet_tx, _dma_packet_rx;
uint16_t count = LINUX_RC_INPUT_NUM_CHANNELS;
_dma_packet_tx.count_code = count | PKT_CODE_READ;
_dma_packet_tx.page = 4;
_dma_packet_tx.offset = 0;
_dma_packet_tx.crc = 0;
_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
/* set raspilotio to read reg4 */
_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
/* get reg4 data from raspilotio */
_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
uint16_t num_values = _dma_packet_rx.regs[0];
uint16_t rc_ok = _dma_packet_rx.regs[1] & (1 << 4);
uint8_t rx_crc = _dma_packet_rx.crc;
_dma_packet_rx.crc = 0;
if ( rc_ok && (rx_crc == crc_packet(&_dma_packet_rx)) ) {
_update_periods(&_dma_packet_rx.regs[6], (uint8_t)num_values);
}
_spi_sem->give();
}
#endif // CONFIG_HAL_BOARD_SUBTYPE