mirror of https://github.com/ArduPilot/ardupilot
139 lines
3.2 KiB
C++
139 lines
3.2 KiB
C++
#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include "RCInput.h"
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#include <fcntl.h>
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#include <unistd.h>
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#include <drivers/drv_pwm_output.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/uORB.h>
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using namespace PX4;
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extern const AP_HAL::HAL& hal;
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void PX4RCInput::init(void* unused)
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{
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_perf_rcin = perf_alloc(PC_ELAPSED, "APM_rcin");
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_rc_sub = orb_subscribe(ORB_ID(input_rc));
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if (_rc_sub == -1) {
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hal.scheduler->panic("Unable to subscribe to input_rc");
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}
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clear_overrides();
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pthread_mutex_init(&rcin_mutex, NULL);
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}
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bool PX4RCInput::new_input()
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{
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pthread_mutex_lock(&rcin_mutex);
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bool valid = _rcin.timestamp_last_signal != _last_read || _override_valid;
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_last_read = _rcin.timestamp_last_signal;
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_override_valid = false;
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pthread_mutex_unlock(&rcin_mutex);
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return valid;
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}
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uint8_t PX4RCInput::num_channels()
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{
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pthread_mutex_lock(&rcin_mutex);
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uint8_t n = _rcin.channel_count;
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pthread_mutex_unlock(&rcin_mutex);
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return n;
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}
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uint16_t PX4RCInput::read(uint8_t ch)
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{
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if (ch >= RC_INPUT_MAX_CHANNELS) {
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return 0;
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}
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pthread_mutex_lock(&rcin_mutex);
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if (_override[ch]) {
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uint16_t v = _override[ch];
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pthread_mutex_unlock(&rcin_mutex);
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return v;
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}
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if (ch >= _rcin.channel_count) {
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pthread_mutex_unlock(&rcin_mutex);
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return 0;
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}
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uint16_t v = _rcin.values[ch];
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pthread_mutex_unlock(&rcin_mutex);
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return v;
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}
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uint8_t PX4RCInput::read(uint16_t* periods, uint8_t len)
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{
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if (len > RC_INPUT_MAX_CHANNELS) {
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len = RC_INPUT_MAX_CHANNELS;
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}
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for (uint8_t i = 0; i < len; i++){
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periods[i] = read(i);
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}
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return len;
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}
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bool PX4RCInput::set_overrides(int16_t *overrides, uint8_t len)
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{
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bool res = false;
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for (uint8_t i = 0; i < len; i++) {
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res |= set_override(i, overrides[i]);
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}
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return res;
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}
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bool PX4RCInput::set_override(uint8_t channel, int16_t override) {
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if (override < 0) {
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return false; /* -1: no change. */
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}
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if (channel >= RC_INPUT_MAX_CHANNELS) {
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return false;
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}
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_override[channel] = override;
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if (override != 0) {
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_override_valid = true;
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return true;
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}
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return false;
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}
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void PX4RCInput::clear_overrides()
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{
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for (uint8_t i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
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set_override(i, 0);
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}
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}
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void PX4RCInput::_timer_tick(void)
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{
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perf_begin(_perf_rcin);
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bool rc_updated = false;
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if (orb_check(_rc_sub, &rc_updated) == 0 && rc_updated) {
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pthread_mutex_lock(&rcin_mutex);
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orb_copy(ORB_ID(input_rc), _rc_sub, &_rcin);
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pthread_mutex_unlock(&rcin_mutex);
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}
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// note, we rely on the vehicle code checking new_input()
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// and a timeout for the last valid input to handle failsafe
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perf_end(_perf_rcin);
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}
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bool PX4RCInput::rc_bind(int dsmMode)
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{
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int fd = open("/dev/px4io", 0);
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if (fd == -1) {
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hal.console->printf("RCInput: failed to open /dev/px4io\n");
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return false;
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}
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uint32_t mode = (dsmMode == 0) ? DSM2_BIND_PULSES : ((dsmMode == 1) ? DSMX_BIND_PULSES : DSMX8_BIND_PULSES);
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int ret = ioctl(fd, DSM_BIND_START, mode);
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close(fd);
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if (ret != 0) {
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hal.console->printf("RCInput: Unable to start DSM bind\n");
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return false;
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}
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return true;
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}
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#endif
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