mirror of https://github.com/ArduPilot/ardupilot
120 lines
2.9 KiB
C++
120 lines
2.9 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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decode RC input using SITL on command line
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*/
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#include <AP_HAL/AP_HAL.h>
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <AP_RCProtocol/AP_RCProtocol.h>
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#include <stdio.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 <time.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <termios.h>
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#include <string.h>
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#include <errno.h>
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void setup();
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void loop();
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static AP_RCProtocol *rcprot;
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// change this to the device being tested.
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const char *devname = "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_A10596TP-if00-port0";
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const uint32_t baudrate = 115200;
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static int fd;
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// setup routine
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void setup()
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{
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// introduction
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hal.console->printf("ArduPilot RC protocol decoder\n");
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hal.scheduler->delay(100);
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fd = open(devname, O_RDONLY|O_CLOEXEC);
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if (fd == -1) {
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perror(devname);
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exit(1);
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}
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struct termios options;
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tcgetattr(fd, &options);
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cfsetspeed(&options, baudrate);
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tcgetattr(fd, &options);
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if (baudrate == 100000) {
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// SBUS: 100000bps, even parity, two stop bits
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options.c_cflag |= (CSTOPB | PARENB);
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} else {
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// DSM: 115200, one stop, no parity
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options.c_cflag &= ~(PARENB|CSTOPB|CSIZE);
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options.c_cflag |= CS8;
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}
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options.c_lflag &= ~(ICANON|ECHO|ECHOE|ISIG);
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options.c_iflag &= ~(IXON|IXOFF|IXANY);
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options.c_oflag &= ~OPOST;
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if (tcsetattr(fd, TCSANOW, &options) != 0) {
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perror("tcsetattr");
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exit(1);
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}
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tcflush(fd, TCIOFLUSH);
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rcprot = new AP_RCProtocol();
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rcprot->init();
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}
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//Main loop where the action takes place
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void loop()
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{
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uint8_t buf[32];
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ssize_t ret = read(fd, buf, sizeof(buf));
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if (ret <= 0) {
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return;
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}
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for (uint8_t i=0; i<ret; i++) {
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rcprot->process_byte(buf[i], 115200);
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if (rcprot->new_input()) {
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uint8_t nchan = rcprot->num_channels();
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printf("%u: ", nchan);
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for (uint8_t j=0; j<nchan; j++) {
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uint16_t v = rcprot->read(j);
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printf("%04u ", v);
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}
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printf("\n");
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}
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}
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}
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#else
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// dummy implementation
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void setup() {}
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void loop() {}
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#endif // CONFIG_HAL_BOARD
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AP_HAL_MAIN();
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