mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 14:38:30 -04:00
HAL_Linux: removed use of RCInput_SBUS and RCInput_115200
This commit is contained in:
Andrew Tridgell
parent
1c322d296f
commit
48aacb9462
@ -24,11 +24,9 @@
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#include "RCInput_Navio2.h"
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#include "RCInput_PRU.h"
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#include "RCInput_RPI.h"
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#include "RCInput_SBUS.h"
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#include "RCInput_SoloLink.h"
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#include "RCInput_UART.h"
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#include "RCInput_UDP.h"
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#include "RCInput_115200.h"
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#include "RCInput_Multi.h"
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#include "RCInput_ZYNQ.h"
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#include "RCInput_RCProtocol.h"
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@ -138,7 +136,7 @@ static RCInput_PRU rcinDriver;
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
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static RCInput_AioPRU rcinDriver;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
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static RCInput_Multi rcinDriver{2, new RCInput_AioPRU, new RCInput_115200("/dev/ttyO4")};
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static RCInput_Multi rcinDriver{2, new RCInput_AioPRU, new RCInput_RCProtocol(NULL, "/dev/ttyO4")};
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
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@ -158,7 +156,7 @@ static RCInput_SoloLink rcinDriver;
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
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static RCInput_Navio2 rcinDriver;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
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static RCInput_SBUS rcinDriver;
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static RCInput_RCProtocol rcinDriver{"/dev/ttyPS0", NULL};
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#else
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static RCInput rcinDriver;
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#endif
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@ -1,164 +0,0 @@
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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 R/C input protocols that use a 115200 baud
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non-inverted 8-bit protocol. That includes:
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- DSM
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- SUMD
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- ST24
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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_DISCO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
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#include "RCInput_115200.h"
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#include <stdio.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <errno.h>
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#include <sys/ioctl.h>
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#include <termios.h>
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extern const AP_HAL::HAL& hal;
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using namespace Linux;
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void RCInput_115200::init()
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{
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fd = open(device_path, O_RDWR | O_NONBLOCK | O_CLOEXEC);
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if (fd != -1) {
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struct termios options;
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tcgetattr(fd, &options);
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cfsetispeed(&options, B115200);
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cfsetospeed(&options, B115200);
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options.c_cflag &= ~(PARENB|CSTOPB|CSIZE);
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options.c_cflag |= CS8;
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options.c_lflag &= ~(ICANON|ECHO|ECHOE|ISIG);
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options.c_iflag &= ~(IXON|IXOFF|IXANY);
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options.c_oflag &= ~OPOST;
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if (tcsetattr(fd, TCSANOW, &options) != 0) {
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AP_HAL::panic("RCInput_UART: error configuring device: %s",
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strerror(errno));
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}
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tcflush(fd, TCIOFLUSH);
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}
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}
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void RCInput_115200::set_device_path(const char *path)
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{
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device_path = path;
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}
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void RCInput_115200::_timer_tick(void)
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{
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if (fd == -1) {
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return;
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}
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// read up to 256 bytes at a time
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uint8_t bytes[256];
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int nread;
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fd_set fds;
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struct timeval tv;
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FD_ZERO(&fds);
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FD_SET(fd, &fds);
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tv.tv_sec = 0;
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tv.tv_usec = 0;
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// check if any bytes are available
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if (select(fd+1, &fds, nullptr, nullptr, &tv) != 1) {
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return;
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}
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// cope with there being a large number of pending bytes at
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// the start and discard them
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do {
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nread = ::read(fd, bytes, sizeof(bytes));
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} while (nread == sizeof(bytes));
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if (nread <= 0) {
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return;
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}
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bool got_frame = false;
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if (decoder == DECODER_SYNC ||
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decoder == DECODER_SRXL) {
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// try srxl first as it has a 16 bit CRC
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if (add_srxl_input(bytes, nread)) {
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// lock immediately
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decoder = DECODER_SRXL;
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got_frame = true;
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}
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}
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if (decoder == DECODER_SYNC ||
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decoder == DECODER_SUMD) {
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// SUMD also has a 16 bit CRC
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if (add_sumd_input(bytes, nread)) {
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// lock immediately
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decoder = DECODER_SUMD;
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got_frame = true;
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}
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}
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if (decoder == DECODER_SYNC ||
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decoder == DECODER_DSM) {
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// process as DSM
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if (add_dsm_input(bytes, nread)) {
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dsm_count++;
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if (dsm_count == 10) {
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// we're confident
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decoder = DECODER_DSM;
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}
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got_frame = true;
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}
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}
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if (decoder == DECODER_SYNC ||
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decoder == DECODER_ST24) {
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// process as st24
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if (add_st24_input(bytes, nread)) {
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st24_count++;
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if (st24_count == 10) {
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// we're confident
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decoder = DECODER_ST24;
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}
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got_frame = true;
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}
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}
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uint32_t now = AP_HAL::millis();
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if (got_frame) {
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last_input_ms = now;
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} else if (now - last_input_ms > 1000 && decoder != DECODER_SYNC) {
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// start search again
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decoder = DECODER_SYNC;
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dsm_count = 0;
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st24_count = 0;
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}
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}
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#endif // CONFIG_HAL_BOARD_SUBTYPE
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@ -1,55 +0,0 @@
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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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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
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#include "RCInput.h"
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namespace Linux {
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class RCInput_115200 : public RCInput
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{
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public:
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RCInput_115200(const char *device) :
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device_path(device) {}
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void init() override;
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void _timer_tick(void) override;
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void set_device_path(const char *path);
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private:
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const char *device_path;
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int32_t fd = -1;
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enum Decoders {
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DECODER_DSM=0,
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DECODER_ST24,
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DECODER_SUMD,
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DECODER_SRXL,
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DECODER_SYNC
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};
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enum Decoders decoder = DECODER_SYNC;
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uint8_t dsm_count;
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uint8_t st24_count;
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uint32_t last_input_ms;
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};
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}
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#endif // CONFIG_HAL_BOARD_SUBTYPE
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@ -1,180 +0,0 @@
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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 SBUS input in Linux board using a UART. Note
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that it relies on kernel support for 100kbaud and on a uart inverted
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in hardware
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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_DISCO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
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#include "RCInput_SBUS.h"
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#include <stdio.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <errno.h>
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#include <sys/ioctl.h>
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#include <asm/termbits.h>
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extern const AP_HAL::HAL& hal;
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using namespace Linux;
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#define SBUS_FRAME_SIZE 25
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void RCInput_SBUS::init()
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{
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fd = open(device_path, O_RDWR | O_NONBLOCK | O_CLOEXEC);
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if (fd != -1) {
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printf("Opened SBUS input %s fd=%d\n", device_path, (int)fd);
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fflush(stdout);
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struct termios2 tio {};
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if (ioctl(fd, TCGETS2, &tio) != 0) {
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close(fd);
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fd = -1;
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return;
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}
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tio.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR
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| IGNCR | ICRNL | IXON);
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tio.c_iflag |= (INPCK | IGNPAR);
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tio.c_oflag &= ~OPOST;
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tio.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
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tio.c_cflag &= ~(CSIZE | CRTSCTS | PARODD | CBAUD);
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// use BOTHER to specify speed directly in c_[io]speed member
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tio.c_cflag |= (CS8 | CSTOPB | CLOCAL | PARENB | BOTHER | CREAD);
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tio.c_ispeed = 100000;
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tio.c_ospeed = 100000;
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// see select() comment below
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tio.c_cc[VMIN] = SBUS_FRAME_SIZE;
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tio.c_cc[VTIME] = 0;
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if (ioctl(fd, TCSETS2, &tio) != 0) {
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close(fd);
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fd = -1;
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return;
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}
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}
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}
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void RCInput_SBUS::set_device_path(const char *path)
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{
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device_path = path;
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printf("Set SBUS device path %s\n", path);
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}
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#define SBUS_DEBUG_LOG 0
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#define SBUS_CAUSE_CORRUPTION 0
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void RCInput_SBUS::_timer_tick(void)
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{
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if (fd == -1) {
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return;
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}
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// read up to 10 frames at a time
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uint8_t bytes[SBUS_FRAME_SIZE*10];
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int nread;
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fd_set fds;
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struct timeval tv;
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FD_ZERO(&fds);
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FD_SET(fd, &fds);
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tv.tv_sec = 0;
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tv.tv_usec = 0;
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// as VMIN is SBUS_FRAME_SIZE the select won't return unless there is
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// at least SBUS_FRAME_SIZE bytes available
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if (select(fd+1, &fds, nullptr, nullptr, &tv) != 1) {
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return;
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}
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#if SBUS_DEBUG_LOG
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static int logfd = -1;
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if (logfd == -1) {
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logfd = open("sbus.log", O_WRONLY|O_CREAT|O_TRUNC|O_CLOEXEC, 0644);
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}
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#endif
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#if SBUS_CAUSE_CORRUPTION
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// deliberately lose bytes from the port
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static unsigned corruption_counter;
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if (corruption_counter++ % 1000 == 0) {
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uint8_t nn = corruption_counter/1000;
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int n2 = ::read(fd, bytes, nn);
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dprintf(logfd, "throw %u\n", (unsigned)n2);
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}
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#endif
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// cope with there being a large number of pending bytes at
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// the start
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do {
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nread = ::read(fd, bytes, sizeof(bytes));
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} while (nread == sizeof(bytes));
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if (nread % SBUS_FRAME_SIZE != 0) {
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/*
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SBUS frames are 25 bytes long, and always start with
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0x0f, but there is no other framing information to
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prevent us getting out of sync. All we have are the
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timing guarantees
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In this case we have read a partial frame, or lost some
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bytes. A 25 bytes frame at 100000 baud takes 2.5ms. By
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delaying 3.5ms here we will get any remaining bytes for
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this frame. We shouldn't get the start of the next frame
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as frames happen at most every 7ms
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This strategy allows us to resync even if we lose
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bytes. It assumes an interframe gap of more than
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3.5ms. If SBUS is run at very high rate (like 300Hz)
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then this won't work
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*/
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hal.scheduler->delay_microseconds(3500);
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int n2 = ::read(fd, bytes+nread, sizeof(bytes)-nread);
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if (n2 > 0) {
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nread += n2;
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}
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}
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if (nread % SBUS_FRAME_SIZE != 0) {
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// if we don't have a multuple of 25 then throw away the lot
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#if SBUS_DEBUG_LOG
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dprintf(logfd, "discard %u\n", (unsigned)nread);
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#endif
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return;
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}
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if (nread <= 0) {
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return;
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}
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#if SBUS_DEBUG_LOG
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if (logfd != -1) {
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dprintf(logfd, "%06u %u: ", (unsigned)AP_HAL::millis(), (unsigned)nread);
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for (uint8_t i=0; i<nread; i++) {
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dprintf(logfd, "%02x ", (unsigned)bytes[i]);
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}
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dprintf(logfd, "\n");
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}
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#endif
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// only process the last SBUS_FRAME_SIZE bytes. Only the latest
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// frame matters
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add_sbus_input(&bytes[nread-SBUS_FRAME_SIZE], SBUS_FRAME_SIZE);
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}
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#endif // CONFIG_HAL_BOARD_SUBTYPE
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@ -1,52 +0,0 @@
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/*
|
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This program is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
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|
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
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#include "RCInput.h"
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namespace Linux {
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class RCInput_SBUS : public RCInput
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{
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public:
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void init() override;
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void _timer_tick(void) override;
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void set_device_path(const char *path);
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private:
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
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const char *device_path = "/dev/ttyS1";
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
|
||||
const char *device_path = "/dev/uart-sbus";
|
||||
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
|
||||
const char *device_path = "/dev/ttyS2";
|
||||
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
|
||||
const char *device_path = "/dev/ttyPS0";
|
||||
#else
|
||||
const char *device_path = nullptr;
|
||||
#endif
|
||||
int32_t fd = -1;
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endif // CONFIG_HAL_BOARD_SUBTYPE
|
||||
Loading…
Reference in New Issue
Block a user