mirror of https://github.com/ArduPilot/ardupilot
105 lines
2.5 KiB
C++
105 lines
2.5 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 UART driver for the QFLIGHT port. Actual UART output
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happens via RPC calls. See the qflight/ subdirectory for details
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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 <stdio.h>
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#include <unistd.h>
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#include "UARTQFlight.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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QFLIGHTDevice::QFLIGHTDevice(const char *_device_path)
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{
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device_path = _device_path;
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if (strncmp(device_path, "qflight:", 8) == 0) {
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device_path += 8;
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}
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}
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QFLIGHTDevice::~QFLIGHTDevice()
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{
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close();
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}
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bool QFLIGHTDevice::close()
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{
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if (fd != -1) {
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if (qflight_UART_close(fd) != 0) {
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return false;
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}
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}
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fd = -1;
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return true;
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}
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bool QFLIGHTDevice::open()
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{
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int ret = qflight_UART_open(device_path, &fd);
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if (ret != 0 || fd == -1) {
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printf("Failed to open UART device %s ret=%d fd=%d\n",
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device_path, ret, (int)fd);
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return false;
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}
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printf("opened QFLIGHT UART device %s ret=%d fd=%d\n",
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device_path, ret, (int)fd);
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return true;
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}
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ssize_t QFLIGHTDevice::read(uint8_t *buf, uint16_t n)
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{
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int32_t nread = 0;
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int ret = qflight_UART_read(fd, buf, n, &nread);
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if (ret != 0) {
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return 0;
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}
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return nread;
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}
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ssize_t QFLIGHTDevice::write(const uint8_t *buf, uint16_t n)
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{
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int32_t nwritten = 0;
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int ret = qflight_UART_write(fd, buf, n, &nwritten);
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if (ret != 0) {
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return 0;
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}
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return nwritten;
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}
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void QFLIGHTDevice::set_blocking(bool blocking)
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{
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// no implementation yet
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}
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void QFLIGHTDevice::set_speed(uint32_t baudrate)
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{
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qflight_UART_set_baudrate(fd, baudrate);
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}
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#endif // CONFIG_HAL_BOARD_SUBTYPE
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