mirror of https://github.com/ArduPilot/ardupilot
76 lines
2.1 KiB
C++
76 lines
2.1 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
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#include <stdio.h>
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#include <errno.h>
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#include <stdlib.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <assert.h>
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#include "RCInput_Raspilot.h"
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#include "px4io_protocol.h"
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static const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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using namespace Linux;
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void RCInput_Raspilot::init(void*)
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{
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_spi = hal.spi->device(AP_HAL::SPIDevice_RASPIO);
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_spi_sem = _spi->get_semaphore();
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if (_spi_sem == NULL) {
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hal.scheduler->panic(PSTR("PANIC: RCIutput_Raspilot did not get "
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"valid SPI semaphore!"));
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return; // never reached
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}
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// start the timer process to read samples
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hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&RCInput_Raspilot::_poll_data, void));
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}
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void RCInput_Raspilot::_poll_data(void)
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{
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// Throttle read rate to 100hz maximum.
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if (hal.scheduler->micros() - _last_timer < 10000) {
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return;
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}
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_last_timer = hal.scheduler->micros();
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if (!_spi_sem->take_nonblocking()) {
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return;
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}
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struct IOPacket _dma_packet_tx, _dma_packet_rx;
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uint16_t count = LINUX_RC_INPUT_NUM_CHANNELS;
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_dma_packet_tx.count_code = count | PKT_CODE_READ;
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_dma_packet_tx.page = 4;
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_dma_packet_tx.offset = 0;
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_dma_packet_tx.crc = 0;
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_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
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/* set raspilotio to read reg4 */
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_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
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/* get reg4 data from raspilotio */
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_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
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uint16_t num_values = _dma_packet_rx.regs[0];
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uint16_t rc_ok = _dma_packet_rx.regs[1] & (1 << 4);
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uint8_t rx_crc = _dma_packet_rx.crc;
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_dma_packet_rx.crc = 0;
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if ( rc_ok && (rx_crc == crc_packet(&_dma_packet_rx)) ) {
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_update_periods(&_dma_packet_rx.regs[6], (uint8_t)num_values);
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}
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_spi_sem->give();
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}
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#endif // CONFIG_HAL_BOARD_SUBTYPE
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