mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 15:38:29 -04:00
100 lines
2.9 KiB
C++
100 lines
2.9 KiB
C++
/// -*- 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 driver for DSM input in the QFLIGHT board. It could be
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extended to other boards in future by providing an open/read/write
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abstraction
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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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#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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void RCInput_SBUS::init()
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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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#ifndef B100000
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// disco uses 010000 for 100000 baud (BOTHER)
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#define B100000 010000
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#endif
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void RCInput_SBUS::_timer_tick(void)
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{
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if (device_path == nullptr) {
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return;
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}
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/*
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we defer the open to the timer tick to ensure all RPC calls are
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made in the same thread
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*/
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if (fd == -1) {
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fd = open(device_path, O_RDONLY | O_NONBLOCK);
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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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int ret = ioctl(fd, TCGETS2, &tio);
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printf("ret1=%d\n", ret);
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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_ispeed = B100000;
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tio.c_ospeed = B100000;
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tio.c_cflag &= ~(CSIZE | CRTSCTS | PARODD | CBAUD);
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tio.c_cflag |= (CS8 | CSTOPB | CLOCAL | PARENB | BOTHER | CREAD);
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tio.c_cc[VMIN] = 25;
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tio.c_cc[VTIME] = 0;
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ret = ioctl(fd, TCSETS2, &tio);
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printf("SBUS ret=%d %s\n", ret, strerror(errno));
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}
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}
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if (fd != -1) {
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uint8_t bytes[25];
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int32_t nread;
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uint8_t counter = 100;
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do {
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nread = ::read(fd, bytes, sizeof(bytes));
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if (nread > 0 && bytes[0] == 0x0f) {
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add_sbus_input(bytes, nread);
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}
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} while (nread == 25 && counter--);
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}
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}
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#endif // CONFIG_HAL_BOARD_SUBTYPE
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