Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

HAL_Linux: support inverted 115200 protocols

Browse Source 
this allows for FrSky FPort input
This commit is contained in:
Andrew Tridgell 2020-01-19 11:34:07 +11:00
parent 1284f1bd8a
commit a153799e26
2 changed files with 31 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

38
libraries/AP_HAL_Linux/RCInput_RCProtocol.cpp
View File

@ -24,6 +24,7 @@
#include <sys/ioctl.h>
#include <asm/termbits.h>
#include "RCInput_RCProtocol.h"
#include <GCS_MAVLink/GCS.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
@ -102,43 +103,44 @@ int RCInput_RCProtocol::open_115200(const char *path)
}
// constructor
RCInput_RCProtocol::RCInput_RCProtocol(const char *_dev_sbus, const char *_dev_115200) :
dev_sbus(_dev_sbus),
RCInput_RCProtocol::RCInput_RCProtocol(const char *_dev_inverted, const char *_dev_115200) :
dev_inverted(_dev_inverted),
dev_115200(_dev_115200)
{
}
void RCInput_RCProtocol::init()
{
if (dev_sbus) {
fd_sbus = open_sbus(dev_sbus);
if (dev_inverted) {
fd_inverted = open_sbus(dev_inverted);
} else {
fd_sbus = -1;
fd_inverted = -1;
}
inverted_is_115200 = false;
if (dev_115200) {
fd_115200 = open_115200(dev_115200);
} else {
fd_115200 = -1;
}
AP::RC().init();
printf("SBUS FD %d 115200 FD %d\n", fd_sbus, fd_115200);
printf("SBUS FD %d 115200 FD %d\n", fd_inverted, fd_115200);
}
void RCInput_RCProtocol::_timer_tick(void)
{
uint8_t b[40];
uint8_t b[80];
if (fd_sbus != -1) {
ssize_t n = ::read(fd_sbus, &b[0], sizeof(b));
if (fd_inverted != -1) {
ssize_t n = ::read(fd_inverted, &b[0], sizeof(b));
if (n > 0) {
for (uint8_t i=0; i<n; i++) {
AP::RC().process_byte(b[i], 100000);
AP::RC().process_byte(b[i], inverted_is_115200?115200:100000);
}
}
}
if (fd_115200 != -1) {
ssize_t n = ::read(fd_115200, &b[0], sizeof(b));
if (n > 0) {
if (n > 0 && !inverted_is_115200) {
for (uint8_t i=0; i<n; i++) {
AP::RC().process_byte(b[i], 115200);
}
@ -146,6 +148,7 @@ void RCInput_RCProtocol::_timer_tick(void)
}
if (AP::RC().new_input()) {
last_frame_ms = AP_HAL::millis();
uint8_t n = AP::RC().num_channels();
for (uint8_t i=0; i<n; i++) {
_pwm_values[i] = AP::RC().read(i);
@ -153,6 +156,19 @@ void RCInput_RCProtocol::_timer_tick(void)
_num_channels = n;
rc_input_count++;
}
uint32_t now = AP_HAL::millis();
if (fd_inverted != -1 && now - last_frame_ms > 2000) {
// no inverted data for 2s, flip baudrate
close(fd_inverted);
inverted_is_115200 = !inverted_is_115200;
if (inverted_is_115200) {
fd_inverted = open_115200(dev_inverted);
} else {
fd_inverted = open_sbus(dev_inverted);
}
last_frame_ms = now;
}
}
#endif // HAL

6
libraries/AP_HAL_Linux/RCInput_RCProtocol.h
View File

@ -38,11 +38,13 @@ private:
int open_sbus(const char *path);
int open_115200(const char *path);
const char *dev_sbus;
const char *dev_inverted;
const char *dev_115200;
int fd_sbus;
int fd_inverted;
int fd_115200;
uint32_t last_frame_ms;
bool inverted_is_115200;
};
};