ardupilot/libraries/AP_RCProtocol/examples/RCProtocolDecoder/RCProtocolDecoder.cpp

119 lines
2.9 KiB
C++

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