mirror of https://github.com/ArduPilot/ardupilot
93 lines
2.0 KiB
C++
93 lines
2.0 KiB
C++
#include "RCInput_UART.h"
|
|
|
|
#include <errno.h>
|
|
#include <fcntl.h>
|
|
#include <inttypes.h>
|
|
#include <stdio.h>
|
|
#include <stdlib.h>
|
|
#include <string.h>
|
|
#include <termios.h>
|
|
#include <unistd.h>
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
|
|
#define MAGIC 0x55AA
|
|
|
|
using namespace Linux;
|
|
|
|
RCInput_UART::RCInput_UART(const char *path)
|
|
{
|
|
_fd = open(path, O_RDONLY|O_NOCTTY|O_NONBLOCK|O_NDELAY|O_CLOEXEC);
|
|
if (_fd < 0) {
|
|
AP_HAL::panic("RCInput_UART: Error opening '%s': %s",
|
|
path, strerror(errno));
|
|
}
|
|
}
|
|
|
|
RCInput_UART::~RCInput_UART()
|
|
{
|
|
close(_fd);
|
|
}
|
|
|
|
void RCInput_UART::init()
|
|
{
|
|
struct termios options;
|
|
|
|
tcgetattr(_fd, &options);
|
|
|
|
cfsetispeed(&options, B115200);
|
|
cfsetospeed(&options, B115200);
|
|
|
|
options.c_cflag &= ~(PARENB|CSTOPB|CSIZE);
|
|
options.c_cflag |= CS8;
|
|
|
|
options.c_lflag &= ~(ICANON|ECHO|ECHOE|ISIG);
|
|
options.c_iflag &= ~(IXON|IXOFF|IXANY);
|
|
options.c_oflag &= ~OPOST;
|
|
|
|
if (tcsetattr(_fd, TCSANOW, &options) != 0) {
|
|
AP_HAL::panic("RCInput_UART: error configuring device: %s",
|
|
strerror(errno));
|
|
}
|
|
|
|
tcflush(_fd, TCIOFLUSH);
|
|
|
|
_pdata = (uint8_t *)&_data;
|
|
_remain = sizeof(_data);
|
|
}
|
|
|
|
void RCInput_UART::_timer_tick()
|
|
{
|
|
ssize_t n;
|
|
|
|
if ((n = ::read(_fd, _pdata, _remain)) <= 0)
|
|
return;
|
|
|
|
_remain -= n;
|
|
_pdata += n;
|
|
|
|
if (_remain != 0)
|
|
return;
|
|
|
|
if (_data.magic != MAGIC) {
|
|
/* try to find the magic number and move
|
|
* it to the beginning of our buffer */
|
|
uint16_t magic = MAGIC;
|
|
|
|
_pdata = (uint8_t *)memmem(&_data, sizeof(_data), &magic, sizeof(magic));
|
|
|
|
if (!_pdata)
|
|
_pdata = (uint8_t *)&_data + sizeof(_data) - 1;
|
|
|
|
_remain = _pdata - (uint8_t *)&_data;
|
|
n = sizeof(_data) - _remain;
|
|
memmove(&_data, _pdata, n);
|
|
_pdata = (uint8_t *)&_data + n;
|
|
return;
|
|
}
|
|
|
|
_update_periods(_data.values, CHANNELS);
|
|
_pdata = (uint8_t *)&_data;
|
|
_remain = sizeof(_data);
|
|
}
|