mirror of https://github.com/ArduPilot/ardupilot
158 lines
3.8 KiB
C++
158 lines
3.8 KiB
C++
/*
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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 multiple RCInput methods on one board
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*/
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#include <AP_HAL/AP_HAL.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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#include "RCInput_RCProtocol.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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extern const AP_HAL::HAL& hal;
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using namespace Linux;
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/*
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open a SBUS UART
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*/
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int RCInput_RCProtocol::open_sbus(const char *path)
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{
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int fd = open(path, O_RDWR | O_NONBLOCK | O_CLOEXEC);
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if (fd == -1) {
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return -1;
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}
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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 -1;
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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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if (ioctl(fd, TCSETS2, &tio) != 0) {
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close(fd);
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fd = -1;
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return -1;
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}
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return fd;
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}
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/*
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open a 115200 UART
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*/
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int RCInput_RCProtocol::open_115200(const char *path)
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{
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int fd = open(path, O_RDWR | O_NONBLOCK | O_CLOEXEC);
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if (fd == -1) {
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return -1;
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}
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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 -1;
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}
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tio.c_cflag &= ~(PARENB|CSTOPB|CSIZE);
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tio.c_cflag |= CS8 | B115200;
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tio.c_lflag &= ~(ICANON|ECHO|ECHOE|ISIG);
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tio.c_iflag &= ~(IXON|IXOFF|IXANY);
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tio.c_oflag &= ~OPOST;
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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 -1;
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}
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return fd;
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}
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// constructor
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RCInput_RCProtocol::RCInput_RCProtocol(const char *_dev_sbus, const char *_dev_115200) :
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dev_sbus(_dev_sbus),
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dev_115200(_dev_115200)
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{
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}
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void RCInput_RCProtocol::init()
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{
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if (dev_sbus) {
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fd_sbus = open_sbus(dev_sbus);
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} else {
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fd_sbus = -1;
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}
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if (dev_115200) {
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fd_115200 = open_115200(dev_115200);
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} else {
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fd_115200 = -1;
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}
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rcp.init();
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printf("SBUS FD %d 115200 FD %d\n", fd_sbus, fd_115200);
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}
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void RCInput_RCProtocol::_timer_tick(void)
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{
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uint8_t b[40];
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if (fd_sbus != -1) {
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ssize_t n = ::read(fd_sbus, &b[0], sizeof(b));
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if (n > 0) {
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for (uint8_t i=0; i<n; i++) {
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rcp.process_byte(b[i], 100000);
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}
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}
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}
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if (fd_115200 != -1) {
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ssize_t n = ::read(fd_115200, &b[0], sizeof(b));
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if (n > 0) {
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for (uint8_t i=0; i<n; i++) {
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rcp.process_byte(b[i], 115200);
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}
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}
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}
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if (rcp.new_input()) {
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uint8_t n = rcp.num_channels();
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for (uint8_t i=0; i<n; i++) {
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_pwm_values[i] = rcp.read(i);
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}
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_num_channels = n;
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rc_input_count++;
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}
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}
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#endif // HAL
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