ardupilot/libraries/AP_HAL_QURT/RCOutput.cpp

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#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_QURT
#include "RCOutput.h"
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#include <GCS_MAVLink/include/mavlink/v2.0/checksum.h>
#include <stdio.h>
#include <fcntl.h>
#include <unistd.h>
#include <dev_fs_lib_serial.h>
extern const AP_HAL::HAL& hal;
using namespace QURT;
void RCOutput::init()
{
}
void RCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
{
// no support for changing frequency yet
}
uint16_t RCOutput::get_freq(uint8_t ch)
{
// return fixed fake value
return 490;
}
void RCOutput::enable_ch(uint8_t ch)
{
if (ch >= channel_count) {
return;
}
enable_mask |= 1U<<ch;
}
void RCOutput::disable_ch(uint8_t ch)
{
if (ch >= channel_count) {
return;
}
enable_mask &= ~1U<<ch;
}
void RCOutput::write(uint8_t ch, uint16_t period_us)
{
if (ch >= channel_count) {
return;
}
period[ch] = period_us;
if (!corked) {
need_write = true;
}
}
uint16_t RCOutput::read(uint8_t ch)
{
if (ch >= channel_count) {
return 0;
}
return period[ch];
}
void RCOutput::read(uint16_t *period_us, uint8_t len)
{
for (int i = 0; i < len; i++) {
period_us[i] = read(i);
}
}
extern "C" {
// discard incoming data
static void read_callback_trampoline(void *, char *, size_t ) {}
}
void RCOutput::timer_update(void)
{
if (fd == -1 && device_path != nullptr) {
HAP_PRINTF("Opening RCOutput %s", device_path);
fd = open(device_path, O_RDWR|O_NONBLOCK);
if (fd == -1) {
AP_HAL::panic("Unable to open %s", device_path);
}
HAP_PRINTF("Opened ESC UART %s fd=%d\n", device_path, fd);
if (fd != -1) {
struct dspal_serial_ioctl_data_rate rate;
rate.bit_rate = DSPAL_SIO_BITRATE_115200;
ioctl(fd, SERIAL_IOCTL_SET_DATA_RATE, (void *)&rate);
struct dspal_serial_ioctl_receive_data_callback callback;
callback.context = this;
callback.rx_data_callback_func_ptr = read_callback_trampoline;
ioctl(fd, SERIAL_IOCTL_SET_RECEIVE_DATA_CALLBACK, (void *)&callback);
}
}
if (!need_write || fd == -1) {
return;
}
struct PACKED {
uint8_t magic = 0xF7;
uint16_t period[channel_count];
uint16_t crc;
} frame;
memcpy(frame.period, period, sizeof(period));
frame.crc = crc_calculate((uint8_t*)frame.period, channel_count*2);
need_write = false;
::write(fd, (uint8_t *)&frame, sizeof(frame));
}
void RCOutput::cork(void)
{
corked = true;
}
void RCOutput::push(void)
{
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if (corked) {
need_write = true;
corked = false;
}
}
#endif // CONFIG_HAL_BOARD_SUBTYPE