mirror of https://github.com/ArduPilot/ardupilot
164 lines
4.0 KiB
C++
164 lines
4.0 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 R/C input protocols that use a 115200 baud
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non-inverted 8-bit protocol. That includes:
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- DSM
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- SUMD
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- ST24
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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_115200.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 <termios.h>
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extern const AP_HAL::HAL& hal;
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using namespace Linux;
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void RCInput_115200::init()
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{
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fd = open(device_path, O_RDWR | O_NONBLOCK | O_CLOEXEC);
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if (fd != -1) {
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struct termios options;
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tcgetattr(fd, &options);
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cfsetispeed(&options, B115200);
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cfsetospeed(&options, B115200);
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options.c_cflag &= ~(PARENB|CSTOPB|CSIZE);
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options.c_cflag |= CS8;
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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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AP_HAL::panic("RCInput_UART: error configuring device: %s",
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strerror(errno));
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}
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tcflush(fd, TCIOFLUSH);
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}
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}
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void RCInput_115200::set_device_path(const char *path)
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{
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device_path = path;
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}
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void RCInput_115200::_timer_tick(void)
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{
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if (fd == -1) {
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return;
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}
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// read up to 256 bytes at a time
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uint8_t bytes[256];
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int nread;
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fd_set fds;
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struct timeval tv;
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FD_ZERO(&fds);
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FD_SET(fd, &fds);
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tv.tv_sec = 0;
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tv.tv_usec = 0;
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// check if any bytes are available
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if (select(fd+1, &fds, nullptr, nullptr, &tv) != 1) {
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return;
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}
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// cope with there being a large number of pending bytes at
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// the start and discard them
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do {
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nread = ::read(fd, bytes, sizeof(bytes));
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} while (nread == sizeof(bytes));
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if (nread <= 0) {
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return;
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}
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bool got_frame = false;
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if (decoder == DECODER_SYNC ||
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decoder == DECODER_SRXL) {
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// try srxl first as it has a 16 bit CRC
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if (add_srxl_input(bytes, nread)) {
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// lock immediately
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decoder = DECODER_SRXL;
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got_frame = true;
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}
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}
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if (decoder == DECODER_SYNC ||
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decoder == DECODER_SUMD) {
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// SUMD also has a 16 bit CRC
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if (add_sumd_input(bytes, nread)) {
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// lock immediately
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decoder = DECODER_SUMD;
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got_frame = true;
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}
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}
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if (decoder == DECODER_SYNC ||
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decoder == DECODER_DSM) {
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// process as DSM
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if (add_dsm_input(bytes, nread)) {
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dsm_count++;
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if (dsm_count == 10) {
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// we're confident
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decoder = DECODER_DSM;
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}
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got_frame = true;
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}
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}
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if (decoder == DECODER_SYNC ||
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decoder == DECODER_ST24) {
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// process as st24
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if (add_st24_input(bytes, nread)) {
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st24_count++;
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if (st24_count == 10) {
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// we're confident
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decoder = DECODER_ST24;
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}
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got_frame = true;
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}
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}
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uint32_t now = AP_HAL::millis();
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if (got_frame) {
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last_input_ms = now;
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} else if (now - last_input_ms > 1000 && decoder != DECODER_SYNC) {
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// start search again
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decoder = DECODER_SYNC;
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dsm_count = 0;
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st24_count = 0;
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}
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}
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#endif // CONFIG_HAL_BOARD_SUBTYPE
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