mirror of https://github.com/ArduPilot/ardupilot
159 lines
3.9 KiB
C++
159 lines
3.9 KiB
C++
/*
|
|
This program 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 program 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/>.
|
|
*/
|
|
/*
|
|
this is a driver for multiple RCInput methods on one board
|
|
*/
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <stdio.h>
|
|
#include <fcntl.h>
|
|
#include <unistd.h>
|
|
#include <errno.h>
|
|
#include <sys/ioctl.h>
|
|
#include <asm/termbits.h>
|
|
#include "RCInput_RCProtocol.h"
|
|
|
|
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
|
|
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
using namespace Linux;
|
|
|
|
/*
|
|
open a SBUS UART
|
|
*/
|
|
int RCInput_RCProtocol::open_sbus(const char *path)
|
|
{
|
|
int fd = open(path, O_RDWR | O_NONBLOCK | O_CLOEXEC);
|
|
if (fd == -1) {
|
|
return -1;
|
|
}
|
|
struct termios2 tio {};
|
|
|
|
if (ioctl(fd, TCGETS2, &tio) != 0) {
|
|
close(fd);
|
|
fd = -1;
|
|
return -1;
|
|
}
|
|
tio.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR
|
|
| IGNCR | ICRNL | IXON);
|
|
tio.c_iflag |= (INPCK | IGNPAR);
|
|
tio.c_oflag &= ~OPOST;
|
|
tio.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
|
|
tio.c_cflag &= ~(CSIZE | CRTSCTS | PARODD | CBAUD);
|
|
// use BOTHER to specify speed directly in c_[io]speed member
|
|
tio.c_cflag |= (CS8 | CSTOPB | CLOCAL | PARENB | BOTHER | CREAD);
|
|
tio.c_ispeed = 100000;
|
|
tio.c_ospeed = 100000;
|
|
if (ioctl(fd, TCSETS2, &tio) != 0) {
|
|
close(fd);
|
|
fd = -1;
|
|
return -1;
|
|
}
|
|
|
|
return fd;
|
|
}
|
|
|
|
/*
|
|
open a 115200 UART
|
|
*/
|
|
int RCInput_RCProtocol::open_115200(const char *path)
|
|
{
|
|
int fd = open(path, O_RDWR | O_NONBLOCK | O_CLOEXEC);
|
|
if (fd == -1) {
|
|
return -1;
|
|
}
|
|
struct termios2 tio {};
|
|
|
|
if (ioctl(fd, TCGETS2, &tio) != 0) {
|
|
close(fd);
|
|
fd = -1;
|
|
return -1;
|
|
}
|
|
|
|
tio.c_cflag &= ~(PARENB|CSTOPB|CSIZE|CBAUD);
|
|
tio.c_cflag |= CS8 | CREAD | CLOCAL | B115200;
|
|
|
|
tio.c_lflag &= ~(ICANON|ECHO|ECHOE|ISIG);
|
|
tio.c_iflag &= ~(IXON|IXOFF|IXANY);
|
|
tio.c_iflag &= ~(INLCR|ICRNL|IGNCR|IUCLC|BRKINT);
|
|
tio.c_oflag &= ~OPOST;
|
|
|
|
if (ioctl(fd, TCSETS2, &tio) != 0) {
|
|
close(fd);
|
|
fd = -1;
|
|
return -1;
|
|
}
|
|
|
|
return fd;
|
|
}
|
|
|
|
// constructor
|
|
RCInput_RCProtocol::RCInput_RCProtocol(const char *_dev_sbus, const char *_dev_115200) :
|
|
dev_sbus(_dev_sbus),
|
|
dev_115200(_dev_115200)
|
|
{
|
|
}
|
|
|
|
void RCInput_RCProtocol::init()
|
|
{
|
|
if (dev_sbus) {
|
|
fd_sbus = open_sbus(dev_sbus);
|
|
} else {
|
|
fd_sbus = -1;
|
|
}
|
|
if (dev_115200) {
|
|
fd_115200 = open_115200(dev_115200);
|
|
} else {
|
|
fd_115200 = -1;
|
|
}
|
|
AP::RC().init();
|
|
printf("SBUS FD %d 115200 FD %d\n", fd_sbus, fd_115200);
|
|
}
|
|
|
|
void RCInput_RCProtocol::_timer_tick(void)
|
|
{
|
|
uint8_t b[40];
|
|
|
|
if (fd_sbus != -1) {
|
|
ssize_t n = ::read(fd_sbus, &b[0], sizeof(b));
|
|
if (n > 0) {
|
|
for (uint8_t i=0; i<n; i++) {
|
|
AP::RC().process_byte(b[i], 100000);
|
|
}
|
|
}
|
|
}
|
|
if (fd_115200 != -1) {
|
|
ssize_t n = ::read(fd_115200, &b[0], sizeof(b));
|
|
if (n > 0) {
|
|
for (uint8_t i=0; i<n; i++) {
|
|
AP::RC().process_byte(b[i], 115200);
|
|
}
|
|
}
|
|
}
|
|
|
|
if (AP::RC().new_input()) {
|
|
uint8_t n = AP::RC().num_channels();
|
|
for (uint8_t i=0; i<n; i++) {
|
|
_pwm_values[i] = AP::RC().read(i);
|
|
}
|
|
_num_channels = n;
|
|
rc_input_count++;
|
|
}
|
|
}
|
|
|
|
#endif // HAL
|