forked from Archive/PX4-Autopilot
purge drivers/linux_sbus
- rc_input now provides reliable parsing for SBUS on Linux platform. linux_sbus can be fully removed.
This commit is contained in:
SalimTerryLi
GitHub
parent
20ad3a0ded
commit
9612e40464
|
|
@ -28,7 +28,6 @@ px4_add_board(
|
|||
imu/mpu9250
|
||||
lights/rgbled
|
||||
linux_pwm_out
|
||||
linux_sbus
|
||||
#magnetometer # all available magnetometer drivers
|
||||
magnetometer/hmc5883
|
||||
pwm_out_sim
|
||||
|
|
|
|||
|
|
@ -50,7 +50,6 @@ px4_add_board(
|
|||
gps
|
||||
#imu # all available imu drivers
|
||||
#lights/rgbled
|
||||
linux_sbus
|
||||
#magnetometer # all available magnetometer drivers
|
||||
pwm_out_sim
|
||||
qshell/posix
|
||||
|
|
|
|||
|
|
@ -50,7 +50,6 @@ px4_add_board(
|
|||
gps
|
||||
#imu # all available imu drivers
|
||||
#lights/rgbled
|
||||
linux_sbus
|
||||
#magnetometer # all available magnetometer drivers
|
||||
pwm_out_sim
|
||||
qshell/posix
|
||||
|
|
|
|||
|
|
@ -20,7 +20,6 @@ px4_add_board(
|
|||
#imu # all available imu drivers
|
||||
imu/mpu9250
|
||||
linux_pwm_out
|
||||
linux_sbus
|
||||
#magnetometer # all available magnetometer drivers
|
||||
magnetometer/hmc5883
|
||||
pwm_out_sim
|
||||
|
|
|
|||
|
|
@ -21,7 +21,6 @@ px4_add_board(
|
|||
imu/mpu9250
|
||||
imu/st/lsm9ds1
|
||||
linux_pwm_out
|
||||
linux_sbus
|
||||
#magnetometer # all available magnetometer drivers
|
||||
magnetometer/hmc5883
|
||||
magnetometer/lsm9ds1_mag
|
||||
|
|
|
|||
|
|
@ -19,7 +19,6 @@ px4_add_board(
|
|||
#imu # all available imu drivers
|
||||
imu/mpu9250
|
||||
linux_pwm_out
|
||||
linux_sbus
|
||||
#magnetometer # all available magnetometer drivers
|
||||
magnetometer/hmc5883
|
||||
pca9685_pwm_out
|
||||
|
|
|
|||
|
|
@ -77,8 +77,7 @@ mavlink start -n SoftAp -x -u 14556 -r 1000000
|
|||
|
||||
sleep 1
|
||||
|
||||
linux_sbus start -d /dev/ttyS4 -c 16
|
||||
# DSM2 port is mapped to /dev/ttyS4 (default for linux_sbus)
|
||||
# RC port is mapped to /dev/ttyS4 (auto-detected)
|
||||
#rc_input start -d /dev/ttyS4
|
||||
|
||||
# default: ROMFS/px4fmu_common/mixers/quad_x.main.mix, 8 output channels
|
||||
|
|
|
|||
|
|
@ -76,9 +76,8 @@ mavlink start -n SoftAp -x -u 14556 -r 1000000
|
|||
|
||||
sleep 1
|
||||
|
||||
linux_sbus start -d /dev/ttyS4 -c 16
|
||||
# DSM2 port is mapped to /dev/ttyS4 (default for linux_sbus)
|
||||
#rc_input start -d /dev/ttyS4
|
||||
# RC port is mapped to /dev/ttyS4 (auto-detected)
|
||||
rc_input start -d /dev/ttyS4
|
||||
|
||||
# default: ROMFS/px4fmu_common/mixers/quad_x.main.mix, 8 output channels
|
||||
#linux_pwm_out start -p bbblue_rc -m ROMFS/px4fmu_common/mixers/quad_x.main.mix
|
||||
|
|
|
|||
|
|
@ -40,8 +40,7 @@ mavlink start -x -d /dev/ttyPS1
|
|||
mavlink stream -d /dev/ttyPS1 -s HIGHRES_IMU -r 50
|
||||
mavlink stream -d /dev/ttyPS1 -s ATTITUDE -r 50
|
||||
|
||||
linux_sbus start -d /dev/ttyS2 -c 10
|
||||
#rc_input start -d /dev/ttyS2
|
||||
rc_input start -d /dev/ttyS2
|
||||
|
||||
linux_pwm_out start -p ocpoc_mmap -m ROMFS/px4fmu_common/mixers/ocpoc_quad_x.main.mix
|
||||
logger start -t -b 200
|
||||
|
|
|
|||
|
|
@ -1,41 +0,0 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2017 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.
|
||||
#
|
||||
############################################################################
|
||||
px4_add_module(
|
||||
MODULE drivers__linux_sbus
|
||||
MAIN linux_sbus
|
||||
COMPILE_FLAGS
|
||||
SRCS
|
||||
linux_sbus.cpp
|
||||
DEPENDS
|
||||
)
|
||||
|
||||
|
|
@ -1,364 +0,0 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2017 Mark Charl. All rights reserved.
|
||||
* Copyright (C) 2017 Fan.zhang. All rights reserved.
|
||||
* Copyright (C) 2017 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#include "linux_sbus.h"
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
|
||||
using namespace linux_sbus;
|
||||
|
||||
//---------------------------------------------------------------------------------------------------------//
|
||||
int RcInput::init()
|
||||
{
|
||||
int i;
|
||||
|
||||
/**
|
||||
* initialize the data of each channel
|
||||
*/
|
||||
for (i = 0; i < input_rc_s::RC_INPUT_MAX_CHANNELS; ++i) {
|
||||
_data.values[i] = UINT16_MAX;
|
||||
}
|
||||
|
||||
_rcinput_pub = orb_advertise(ORB_ID(input_rc), &_data);
|
||||
|
||||
if (nullptr == _rcinput_pub) {
|
||||
PX4_WARN("error: advertise failed");
|
||||
return -1;
|
||||
}
|
||||
|
||||
/**
|
||||
* open the serial port
|
||||
*/
|
||||
_device_fd = open(_device, O_RDWR | O_NONBLOCK | O_CLOEXEC);
|
||||
|
||||
if (-1 == _device_fd) {
|
||||
PX4_ERR("Open SBUS input %s failed, status %d \n", _device,
|
||||
(int) _device_fd);
|
||||
fflush(stdout);
|
||||
return -1;
|
||||
}
|
||||
|
||||
struct termios2 tio { };
|
||||
|
||||
if (0 != ioctl(_device_fd, TCGETS2, &tio)) {
|
||||
close(_device_fd);
|
||||
_device_fd = -1;
|
||||
return -1;
|
||||
}
|
||||
|
||||
/**
|
||||
* Setting serial port,8E2, non-blocking.100Kbps
|
||||
*/
|
||||
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;
|
||||
tio.c_cc[VMIN] = 25;
|
||||
tio.c_cc[VTIME] = 0;
|
||||
|
||||
if (0 != ioctl(_device_fd, TCSETS2, &tio)) {
|
||||
close(_device_fd);
|
||||
_device_fd = -1;
|
||||
return -1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
//---------------------------------------------------------------------------------------------------------//
|
||||
int RcInput::start(char *device, int channels)
|
||||
{
|
||||
int result = 0;
|
||||
strcpy(_device, device);
|
||||
PX4_INFO("Device %s , channels: %d \n", device, channels);
|
||||
_channels = channels;
|
||||
result = init();
|
||||
|
||||
if (0 != result) {
|
||||
PX4_WARN("error: RC initialization failed");
|
||||
return -1;
|
||||
}
|
||||
|
||||
_isRunning = true;
|
||||
|
||||
ScheduleNow();
|
||||
|
||||
if (result == -1) {
|
||||
_isRunning = false;
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
//---------------------------------------------------------------------------------------------------------//
|
||||
void RcInput::stop()
|
||||
{
|
||||
close(_device_fd);
|
||||
_shouldExit = true;
|
||||
}
|
||||
|
||||
//---------------------------------------------------------------------------------------------------------//
|
||||
void RcInput::Run()
|
||||
{
|
||||
_measure();
|
||||
|
||||
if (!_shouldExit) {
|
||||
ScheduleDelayed(RCINPUT_MEASURE_INTERVAL_US);
|
||||
}
|
||||
}
|
||||
//---------------------------------------------------------------------------------------------------------//
|
||||
void RcInput::_measure(void)
|
||||
{
|
||||
uint64_t ts;
|
||||
int nread;
|
||||
fd_set fds;
|
||||
FD_ZERO(&fds);
|
||||
FD_SET(_device_fd, &fds);
|
||||
/**
|
||||
*error counter to count the lost frame
|
||||
*/
|
||||
int count = 0; //
|
||||
|
||||
while (1) {
|
||||
nread = read(_device_fd, &_sbusData, sizeof(_sbusData));
|
||||
|
||||
if (25 == nread) {
|
||||
/**
|
||||
* Notice: most sbus rx device support sbus1
|
||||
*/
|
||||
if (0x0f == _sbusData[0] && 0x00 == _sbusData[24]) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
++count;
|
||||
usleep(RCINPUT_MEASURE_INTERVAL_US);
|
||||
}
|
||||
|
||||
/**
|
||||
* parse sbus data to pwm
|
||||
*/
|
||||
_channels_data[0] =
|
||||
(uint16_t)(((_sbusData[1] | _sbusData[2] << 8) & 0x07FF)
|
||||
* SBUS_SCALE_FACTOR + .5f) + SBUS_SCALE_OFFSET;
|
||||
_channels_data[1] = (uint16_t)(((_sbusData[2] >> 3 | _sbusData[3] << 5)
|
||||
& 0x07FF) * SBUS_SCALE_FACTOR + .5f) + SBUS_SCALE_OFFSET;
|
||||
_channels_data[2] = (uint16_t)(((_sbusData[3] >> 6 | _sbusData[4] << 2
|
||||
| _sbusData[5] << 10) & 0x07FF) * SBUS_SCALE_FACTOR + .5f)
|
||||
+ SBUS_SCALE_OFFSET;
|
||||
_channels_data[3] = (uint16_t)(((_sbusData[5] >> 1 | _sbusData[6] << 7)
|
||||
& 0x07FF) * SBUS_SCALE_FACTOR + .5f) + SBUS_SCALE_OFFSET;
|
||||
_channels_data[4] = (uint16_t)(((_sbusData[6] >> 4 | _sbusData[7] << 4)
|
||||
& 0x07FF) * SBUS_SCALE_FACTOR + .5f) + SBUS_SCALE_OFFSET;
|
||||
_channels_data[5] = (uint16_t)(((_sbusData[7] >> 7 | _sbusData[8] << 1
|
||||
| _sbusData[9] << 9) & 0x07FF) * SBUS_SCALE_FACTOR + .5f)
|
||||
+ SBUS_SCALE_OFFSET;
|
||||
_channels_data[6] = (uint16_t)(((_sbusData[9] >> 2 | _sbusData[10] << 6)
|
||||
& 0x07FF) * SBUS_SCALE_FACTOR + .5f) + SBUS_SCALE_OFFSET;
|
||||
_channels_data[7] = (uint16_t)(((_sbusData[10] >> 5 | _sbusData[11] << 3)
|
||||
& 0x07FF) * SBUS_SCALE_FACTOR + .5f) + SBUS_SCALE_OFFSET; // & the other 8 + 2 channels if you need them
|
||||
_channels_data[8] = (uint16_t)(((_sbusData[12] | _sbusData[13] << 8)
|
||||
& 0x07FF) * SBUS_SCALE_FACTOR + .5f) + SBUS_SCALE_OFFSET;
|
||||
_channels_data[9] = (uint16_t)(((_sbusData[13] >> 3 | _sbusData[14] << 5)
|
||||
& 0x07FF) * SBUS_SCALE_FACTOR + .5f) + SBUS_SCALE_OFFSET;
|
||||
_channels_data[10] = (uint16_t)(((_sbusData[14] >> 6 | _sbusData[15] << 2
|
||||
| _sbusData[16] << 10) & 0x07FF) * SBUS_SCALE_FACTOR + .5f)
|
||||
+ SBUS_SCALE_OFFSET;
|
||||
_channels_data[11] = (uint16_t)(((_sbusData[16] >> 1 | _sbusData[17] << 7)
|
||||
& 0x07FF) * SBUS_SCALE_FACTOR + .5f) + SBUS_SCALE_OFFSET;
|
||||
_channels_data[12] = (uint16_t)(((_sbusData[17] >> 4 | _sbusData[18] << 4)
|
||||
& 0x07FF) * SBUS_SCALE_FACTOR + .5f) + SBUS_SCALE_OFFSET;
|
||||
_channels_data[13] = (uint16_t)(((_sbusData[18] >> 7 | _sbusData[19] << 1
|
||||
| _sbusData[20] << 9) & 0x07FF) * SBUS_SCALE_FACTOR + .5f)
|
||||
+ SBUS_SCALE_OFFSET;
|
||||
_channels_data[14] = (uint16_t)(((_sbusData[20] >> 2 | _sbusData[21] << 6)
|
||||
& 0x07FF) * SBUS_SCALE_FACTOR + .5f) + SBUS_SCALE_OFFSET;
|
||||
_channels_data[15] = (uint16_t)(((_sbusData[21] >> 5 | _sbusData[22] << 3)
|
||||
& 0x07FF) * SBUS_SCALE_FACTOR + .5f) + SBUS_SCALE_OFFSET;
|
||||
int i = 0;
|
||||
|
||||
for (i = 0; i < _channels; ++i) {
|
||||
_data.values[i] = _channels_data[i];
|
||||
}
|
||||
|
||||
ts = hrt_absolute_time();
|
||||
_data.timestamp = ts;
|
||||
_data.timestamp_last_signal = ts;
|
||||
_data.channel_count = _channels;
|
||||
_data.rssi = 100;
|
||||
_data.rc_lost_frame_count = count;
|
||||
_data.rc_total_frame_count = 1;
|
||||
_data.rc_ppm_frame_length = 0;
|
||||
_data.rc_failsafe = (_sbusData[23] & (1 << 3)) ? true : false;
|
||||
_data.rc_lost = (_sbusData[23] & (1 << 2)) ? true : false;
|
||||
_data.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SBUS;
|
||||
|
||||
orb_publish(ORB_ID(input_rc), _rcinput_pub, &_data);
|
||||
}
|
||||
//---------------------------------------------------------------------------------------------------------//
|
||||
/**
|
||||
* Print the correct usage.
|
||||
*/
|
||||
static void linux_sbus::usage(const char *reason)
|
||||
{
|
||||
if (reason) {
|
||||
PX4_ERR("%s", reason);
|
||||
}
|
||||
|
||||
PX4_INFO("Usage: linux_sbus {start|stop|status} -d <device> -c <channel>");
|
||||
}
|
||||
//---------------------------------------------------------------------------------------------------------//
|
||||
int linux_sbus_main(int argc, char **argv)
|
||||
{
|
||||
int start;
|
||||
int command = -1;
|
||||
/**
|
||||
* ttyS1 for default, it can be changed through -d parameter
|
||||
*/
|
||||
char device[30] = "/dev/ttyS1";
|
||||
/**
|
||||
* 8 channel for default setting, it can be changed through -c parameter
|
||||
*/
|
||||
int max_channel = 8;
|
||||
|
||||
/**
|
||||
* Parse command line and get device and channels count from consolex
|
||||
*/
|
||||
for (start = 0; start < argc; ++start) {
|
||||
if (0 == strcmp(argv[start], "start")) {
|
||||
command = 0;
|
||||
continue;
|
||||
}
|
||||
|
||||
if (0 == strcmp(argv[start], "stop")) {
|
||||
command = 1;
|
||||
continue;
|
||||
}
|
||||
|
||||
if (0 == strcmp(argv[start], "status")) {
|
||||
command = 2;
|
||||
continue;
|
||||
}
|
||||
|
||||
if (0 == strcmp(argv[start], "-d")) {
|
||||
if (argc > (start + 1)) {
|
||||
strcpy(device, argv[start + 1]);
|
||||
}
|
||||
|
||||
continue;
|
||||
}
|
||||
|
||||
if (0 == strcmp(argv[start], "-c")) {
|
||||
if (argc > (start + 1)) {
|
||||
max_channel = atoi(argv[start + 1]);
|
||||
}
|
||||
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Channels count can't be higher than 16;
|
||||
*/
|
||||
max_channel = (max_channel > 16) ? 16 : max_channel;
|
||||
|
||||
if (0 == command) {
|
||||
if (nullptr != rc_input && rc_input->isRunning()) {
|
||||
PX4_WARN("running");
|
||||
return 0;
|
||||
}
|
||||
|
||||
rc_input = new RcInput();
|
||||
|
||||
/** Check if alloc worked. */
|
||||
if (nullptr == rc_input) {
|
||||
PX4_ERR("Sbus driver initialization failed");
|
||||
return -1;
|
||||
}
|
||||
|
||||
int ret = rc_input->start(device, max_channel);
|
||||
|
||||
if (ret != 0) {
|
||||
PX4_ERR("Linux sbus module failure");
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (1 == command) {
|
||||
if (rc_input == nullptr || !rc_input->isRunning()) {
|
||||
PX4_WARN("Not running \n");
|
||||
/* this is not an error */
|
||||
return 0;
|
||||
}
|
||||
|
||||
rc_input->stop();
|
||||
/**
|
||||
* Wait for task to die
|
||||
*/
|
||||
int i = 0;
|
||||
|
||||
do {
|
||||
/* wait up to 100ms */
|
||||
usleep(100000);
|
||||
} while (rc_input->isRunning() && ++i < 30);
|
||||
|
||||
delete rc_input;
|
||||
rc_input = nullptr;
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (2 == command) {
|
||||
if (rc_input != nullptr && rc_input->isRunning()) {
|
||||
PX4_INFO("running");
|
||||
|
||||
} else {
|
||||
PX4_INFO("Not running \n");
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
linux_sbus::usage(
|
||||
"Usage: linux_sbus start|stop|status -d <device> -c <channel>");
|
||||
return 0;
|
||||
}
|
||||
//---------------------------------------------------------------------------------------------------------//
|
||||
|
|
@ -1,119 +0,0 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2017 Mark Charl. All rights reserved.
|
||||
* Copyright (C) 2017 Fan.zhang. All rights reserved.
|
||||
* Copyright (C) 2017 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <sys/stat.h>
|
||||
#include <sys/ipc.h>
|
||||
#include <fcntl.h>
|
||||
#include <stdio.h>
|
||||
#include <stdint.h>
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <sys/ioctl.h>
|
||||
/*For terminal I/O interfaces, termbits.h from asm-generic versions of functions guarantees non-standard communication (100Khz, Non-blocking), not guaranteed by termios.h*/
|
||||
#include <asm-generic/termbits.h>
|
||||
#include <errno.h>
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/defines.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/input_rc.h>
|
||||
/* The interval between each frame is 4700us, do not change it. */
|
||||
#define RCINPUT_MEASURE_INTERVAL_US 4700
|
||||
/* define range mapping here, -+100% -> 1000..2000 */
|
||||
#define SBUS_RANGE_MIN 200.0f
|
||||
#define SBUS_RANGE_MAX 1800.0f
|
||||
#define SBUS_TARGET_MIN 1000.0f
|
||||
#define SBUS_TARGET_MAX 2000.0f
|
||||
/* pre-calculate the floating point stuff as far as possible at compile time */
|
||||
#define SBUS_SCALE_FACTOR ((SBUS_TARGET_MAX - SBUS_TARGET_MIN) / (SBUS_RANGE_MAX - SBUS_RANGE_MIN))
|
||||
#define SBUS_SCALE_OFFSET (int)(SBUS_TARGET_MIN - (SBUS_SCALE_FACTOR * SBUS_RANGE_MIN + 0.5f))
|
||||
|
||||
namespace linux_sbus
|
||||
{
|
||||
class RcInput : public px4::ScheduledWorkItem
|
||||
{
|
||||
public:
|
||||
RcInput() :
|
||||
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
|
||||
_shouldExit(false),
|
||||
_isRunning(false),
|
||||
_rcinput_pub(nullptr),
|
||||
_data { }, _sbusData { 0x0f, 0x01, 0x04, 0x20, 0x00,
|
||||
0xff, 0x07, 0x40, 0x00, 0x02,
|
||||
0x10, 0x80, 0x2c, 0x64, 0x21,
|
||||
0x0b, 0x59, 0x08, 0x40, 0x00,
|
||||
0x02, 0x10, 0x80, 0x00, 0x00 }
|
||||
{ }
|
||||
~RcInput()
|
||||
{
|
||||
ScheduleClear();
|
||||
_isRunning = false;
|
||||
close(_device_fd);
|
||||
}
|
||||
/** @return 0 on success, -errno on failure */
|
||||
int start(char *device, int channels);
|
||||
void stop();
|
||||
|
||||
bool isRunning()
|
||||
{
|
||||
return _isRunning;
|
||||
}
|
||||
|
||||
private:
|
||||
void Run() override;
|
||||
void _measure();
|
||||
bool _shouldExit;
|
||||
bool _isRunning;
|
||||
orb_advert_t _rcinput_pub;
|
||||
struct input_rc_s _data;
|
||||
uint8_t _sbusData[25];
|
||||
int _channels;
|
||||
int _device_fd; /** serial port device to read SBUS; */
|
||||
int _channels_data[16]; /** 16 channels support; */
|
||||
uint8_t _buffer[25];
|
||||
char _device[30];
|
||||
bool _failsafe;
|
||||
bool _rc_loss;
|
||||
int init();
|
||||
};
|
||||
|
||||
static void usage(const char *reason);
|
||||
static RcInput *rc_input = nullptr;
|
||||
}
|
||||
extern "C" __EXPORT int linux_sbus_main(int argc, char **argv);
|
||||
Loading…
Reference in New Issue