forked from Archive/PX4-Autopilot
VOXL2 snapdragon spektrum rc refactor (#21427)
* Replaced outdated snapdragon_spektrum_rc and spektrum_rc drivers with VOXL2 board specific spektrum_rc driver
This commit is contained in:
Eric Katzfey
GitHub
parent
018ca6b49d
commit
0934d3bf24
|
|
@ -47,3 +47,4 @@ add_library(drivers_board
|
|||
add_subdirectory(${PX4_BOARD_DIR}/src/drivers/icm42688p)
|
||||
add_subdirectory(${PX4_BOARD_DIR}/src/drivers/rc_controller)
|
||||
add_subdirectory(${PX4_BOARD_DIR}/src/drivers/mavlink_rc_in)
|
||||
add_subdirectory(${PX4_BOARD_DIR}/src/drivers/spektrum_rc)
|
||||
|
|
|
|||
|
|
@ -32,10 +32,13 @@
|
|||
############################################################################
|
||||
|
||||
px4_add_module(
|
||||
MODULE drivers__snapdragon_spektrum_rc
|
||||
MODULE drivers__spektrum_rc
|
||||
MAIN spektrum_rc
|
||||
INCLUDES
|
||||
${PX4_SOURCE_DIR}/src/drivers/rc_input
|
||||
SRCS
|
||||
spektrum_rc.cpp
|
||||
DEPENDS
|
||||
rc
|
||||
)
|
||||
|
||||
|
|
@ -0,0 +1,88 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file drv_rc_input.h
|
||||
*
|
||||
* R/C input interface.
|
||||
*/
|
||||
|
||||
#ifndef _DRV_RC_INPUT_H
|
||||
#define _DRV_RC_INPUT_H
|
||||
|
||||
#include <stdint.h>
|
||||
#include <sys/ioctl.h>
|
||||
#include <uORB/topics/input_rc.h>
|
||||
|
||||
// #include "drv_orb_dev.h"
|
||||
|
||||
/**
|
||||
* Path for the default R/C input device.
|
||||
*
|
||||
* Note that on systems with more than one R/C input path (e.g.
|
||||
* PX4FMU with PX4IO connected) there may be other devices that
|
||||
* respond to this protocol.
|
||||
*
|
||||
* Input data may be obtained by subscribing to the input_rc
|
||||
* object, or by poll/reading from the device.
|
||||
*/
|
||||
#define RC_INPUT0_DEVICE_PATH "/dev/input_rc0"
|
||||
|
||||
/**
|
||||
* Maximum RSSI value
|
||||
*/
|
||||
#define RC_INPUT_RSSI_MAX 100
|
||||
|
||||
/**
|
||||
* Input signal type, value is a control position from zero to 100
|
||||
* percent.
|
||||
*/
|
||||
typedef uint16_t rc_input_t;
|
||||
|
||||
#define _RC_INPUT_BASE 0x2b00
|
||||
|
||||
/** Enable RSSI input via ADC */
|
||||
#ifdef __PX4_POSIX
|
||||
#define RC_INPUT_ENABLE_RSSI_ANALOG (_RC_INPUT_BASE | 1)
|
||||
#else
|
||||
#define RC_INPUT_ENABLE_RSSI_ANALOG _IOC(_RC_INPUT_BASE, 1)
|
||||
#endif
|
||||
|
||||
/** Enable RSSI input via PWM signal */
|
||||
#ifdef __PX4_POSIX
|
||||
#define RC_INPUT_ENABLE_RSSI_PWM (_RC_INPUT_BASE | 2)
|
||||
#else
|
||||
#define RC_INPUT_ENABLE_RSSI_PWM _IOC(_RC_INPUT_BASE, 2)
|
||||
#endif
|
||||
|
||||
#endif /* _DRV_RC_INPUT_H */
|
||||
|
|
@ -46,13 +46,23 @@
|
|||
#include <px4_platform_common/getopt.h>
|
||||
|
||||
#include <lib/rc/dsm.h>
|
||||
#include <px4_log.h>
|
||||
#include "drv_rc_input.h"
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#ifdef __PX4_QURT
|
||||
#include <drivers/device/qurt/uart.h>
|
||||
#endif
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/input_rc.h>
|
||||
|
||||
// Snapdraogon: use J12 (next to J13, power module side)
|
||||
#ifdef __PX4_QURT
|
||||
#define SPEKTRUM_UART_DEVICE_PATH "7"
|
||||
#else
|
||||
#define SPEKTRUM_UART_DEVICE_PATH "/dev/tty-3"
|
||||
#endif
|
||||
|
||||
#define UNUSED(x) (void)(x)
|
||||
|
||||
|
|
@ -82,13 +92,19 @@ void task_main(int argc, char *argv[])
|
|||
int ch;
|
||||
int myoptind = 1;
|
||||
const char *myoptarg = NULL;
|
||||
bool verbose = false;
|
||||
|
||||
while ((ch = px4_getopt(argc, argv, "d:", &myoptind, &myoptarg)) != EOF) {
|
||||
while ((ch = px4_getopt(argc, argv, "vd:", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'd':
|
||||
device_path = myoptarg;
|
||||
break;
|
||||
|
||||
case 'v':
|
||||
PX4_INFO("Spektrum RC: Enabling verbose mode");
|
||||
verbose = true;
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
|
@ -96,9 +112,12 @@ void task_main(int argc, char *argv[])
|
|||
|
||||
int uart_fd = dsm_init(device_path);
|
||||
|
||||
if (uart_fd < 1) {
|
||||
if (uart_fd < 0) {
|
||||
PX4_ERR("dsm init failed");
|
||||
return;
|
||||
|
||||
} else if (verbose) {
|
||||
PX4_INFO("Spektrum RC: dsm_init succeeded");
|
||||
}
|
||||
|
||||
orb_advert_t rc_pub = nullptr;
|
||||
|
|
@ -109,50 +128,94 @@ void task_main(int argc, char *argv[])
|
|||
_is_running = true;
|
||||
uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS];
|
||||
uint16_t raw_rc_count = 0;
|
||||
uint32_t loop_counter = 0;
|
||||
bool print_msg = false;
|
||||
bool first_correct_frame_received = false;
|
||||
int newbytes = 0;
|
||||
|
||||
// Main loop
|
||||
while (!_task_should_exit) {
|
||||
|
||||
int newbytes = ::read(uart_fd, &rx_buf[0], sizeof(rx_buf));
|
||||
if (((loop_counter % 20) == 0) && verbose) { print_msg = true; }
|
||||
|
||||
if (newbytes < 0) {
|
||||
PX4_WARN("read failed");
|
||||
continue;
|
||||
}
|
||||
loop_counter++;
|
||||
|
||||
if (newbytes == 0) {
|
||||
continue;
|
||||
}
|
||||
#ifdef __PX4_QURT
|
||||
#define ASYNC_UART_READ_WAIT_US 2000
|
||||
// The UART read on SLPI is via an asynchronous service so specify a timeout
|
||||
// for the return. The driver will poll periodically until the read comes in
|
||||
// so this may block for a while. However, it will timeout if no read comes in.
|
||||
newbytes = qurt_uart_read(uart_fd, (char *) &rx_buf[0], sizeof(rx_buf), ASYNC_UART_READ_WAIT_US);
|
||||
#else
|
||||
newbytes = read(uart_fd, &rx_buf[0], sizeof(rx_buf));
|
||||
#endif
|
||||
|
||||
const hrt_abstime now = hrt_absolute_time();
|
||||
if (newbytes <= 0) {
|
||||
if (print_msg) { PX4_INFO("Spektrum RC: Read no bytes from UART"); }
|
||||
|
||||
bool dsm_11_bit;
|
||||
unsigned frame_drops;
|
||||
int8_t dsm_rssi;
|
||||
} else if (((newbytes != DSM_FRAME_SIZE) || ((rx_buf[1] & 0x0F) != 0x02)) && (! first_correct_frame_received)) {
|
||||
PX4_ERR("Spektrum RC: Read something other than correct DSM frame on read. Got %d bytes. Protocol byte is 0x%.2x",
|
||||
newbytes, rx_buf[1]);
|
||||
|
||||
// parse new data
|
||||
bool rc_updated = dsm_parse(now, rx_buf, newbytes, &raw_rc_values[0], &raw_rc_count,
|
||||
&dsm_11_bit, &frame_drops, &dsm_rssi, input_rc_s::RC_INPUT_MAX_CHANNELS);
|
||||
UNUSED(dsm_11_bit);
|
||||
} else {
|
||||
if (print_msg) { PX4_INFO("Spektrum RC: Read %d bytes from UART", newbytes); }
|
||||
|
||||
if (rc_updated) {
|
||||
first_correct_frame_received = true;
|
||||
|
||||
input_rc_s input_rc = {};
|
||||
const hrt_abstime now = hrt_absolute_time();
|
||||
|
||||
fill_input_rc(raw_rc_count, raw_rc_values, now, false, false, frame_drops, dsm_rssi,
|
||||
input_rc);
|
||||
bool dsm_11_bit;
|
||||
unsigned frame_drops;
|
||||
int8_t dsm_rssi;
|
||||
|
||||
if (rc_pub == nullptr) {
|
||||
rc_pub = orb_advertise(ORB_ID(input_rc), &input_rc);
|
||||
// parse new data
|
||||
bool rc_updated = dsm_parse(now, rx_buf, newbytes, &raw_rc_values[0], &raw_rc_count,
|
||||
&dsm_11_bit, &frame_drops, &dsm_rssi, input_rc_s::RC_INPUT_MAX_CHANNELS);
|
||||
UNUSED(dsm_11_bit);
|
||||
|
||||
} else {
|
||||
orb_publish(ORB_ID(input_rc), rc_pub, &input_rc);
|
||||
if (rc_updated) {
|
||||
if (print_msg) { PX4_INFO("Spektrum RC: DSM message parsed successfully"); }
|
||||
|
||||
input_rc_s input_rc = {};
|
||||
|
||||
fill_input_rc(raw_rc_count, raw_rc_values, now, false, false, frame_drops, dsm_rssi,
|
||||
input_rc);
|
||||
|
||||
if (rc_pub == nullptr) {
|
||||
rc_pub = orb_advertise(ORB_ID(input_rc), &input_rc);
|
||||
|
||||
} else {
|
||||
if (print_msg) { PX4_INFO("Spektrum RC: Publishing input_rc"); }
|
||||
|
||||
orb_publish(ORB_ID(input_rc), rc_pub, &input_rc);
|
||||
}
|
||||
}
|
||||
|
||||
if (print_msg) {
|
||||
PX4_INFO("0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x 0x%.2x",
|
||||
rx_buf[0],
|
||||
rx_buf[1],
|
||||
rx_buf[2],
|
||||
rx_buf[3],
|
||||
rx_buf[4],
|
||||
rx_buf[5],
|
||||
rx_buf[6],
|
||||
rx_buf[7],
|
||||
rx_buf[8],
|
||||
rx_buf[9],
|
||||
rx_buf[10],
|
||||
rx_buf[11],
|
||||
rx_buf[12],
|
||||
rx_buf[13],
|
||||
rx_buf[14],
|
||||
rx_buf[15]);
|
||||
}
|
||||
}
|
||||
|
||||
print_msg = false;
|
||||
|
||||
// sleep since no poll for qurt
|
||||
usleep(10000);
|
||||
|
||||
}
|
||||
|
||||
orb_unadvertise(rc_pub);
|
||||
|
|
@ -204,9 +267,6 @@ void fill_input_rc(uint16_t raw_rc_count, uint16_t raw_rc_values[input_rc_s::RC_
|
|||
input_rc.rc_lost = (valid_chans == 0);
|
||||
input_rc.rc_lost_frame_count = frame_drops;
|
||||
input_rc.rc_total_frame_count = 0;
|
||||
|
||||
input_rc.link_quality = -1;
|
||||
input_rc.rssi_dbm = NAN;
|
||||
}
|
||||
|
||||
int start(int argc, char *argv[])
|
||||
|
|
@ -1,5 +0,0 @@
|
|||
menuconfig DRIVERS_SPEKTRUM_RC
|
||||
bool "spektrum_rc"
|
||||
default n
|
||||
---help---
|
||||
Enable support for spektrum_rc
|
||||
Loading…
Reference in New Issue