forked from Archive/PX4-Autopilot
delete snapdragon_rc_pwm and passthrough config
This commit is contained in:
Daniel Agar
parent
fd7d4156fd
commit
992db1f415
|
|
@ -1,19 +0,0 @@
|
|||
#!nsh
|
||||
#
|
||||
# @name Passthrough mode for Snapdragon
|
||||
#
|
||||
# @type custom
|
||||
# @class Tool
|
||||
#
|
||||
# @board px4fmu-v2 exclude
|
||||
# @board px4fmu-v3 exclude
|
||||
# @board px4fmu-v4pro exclude
|
||||
# @board px4fmu-v5 exclude
|
||||
# @board aerofc-v1 exclude
|
||||
#
|
||||
# @maintainer Julian Oes <julian@oes.ch>
|
||||
#
|
||||
# This startup can be used on Pixhawk/Pixfalcon/Pixracer for the
|
||||
# passthrough of RC input and PWM output.
|
||||
|
||||
set VEHICLE_TYPE passthrough
|
||||
|
|
@ -898,46 +898,6 @@ then
|
|||
sh /etc/init.d/rc.ugv_apps
|
||||
fi
|
||||
|
||||
#
|
||||
# For snapdragon, we need a passthrough mode
|
||||
# Do not run any mavlink instances since we need the serial port for
|
||||
# communication with Snapdragon.
|
||||
#
|
||||
if [ $VEHICLE_TYPE == passthrough ]
|
||||
then
|
||||
mavlink stop-all
|
||||
commander stop
|
||||
|
||||
# Stop multicopter attitude controller if it is running, the controls come
|
||||
# from Snapdragon.
|
||||
if mc_att_control stop
|
||||
then
|
||||
fi
|
||||
|
||||
# Start snapdragon interface on serial port.
|
||||
if ver hwcmp PX4FMU_V2
|
||||
then
|
||||
# On Pixfalcon use the standard telemetry port (Telem 1).
|
||||
snapdragon_rc_pwm start -d /dev/ttyS1
|
||||
px4io start
|
||||
fi
|
||||
|
||||
if ver hwcmp PX4FMU_V4
|
||||
then
|
||||
# On Pixracer use Telem 2 port (TL2).
|
||||
snapdragon_rc_pwm start -d /dev/ttyS2
|
||||
fmu mode_pwm4 $FMU_ARGS
|
||||
fi
|
||||
|
||||
pwm failsafe -c 1234 -p 900
|
||||
pwm disarmed -c 1234 -p 900
|
||||
|
||||
# Arm straightaway.
|
||||
pwm arm
|
||||
# Use 400 Hz PWM on all channels.
|
||||
pwm rate -a -r 400
|
||||
fi
|
||||
|
||||
unset MIXER
|
||||
unset MAV_TYPE
|
||||
unset OUTPUT_MODE
|
||||
|
|
|
|||
|
|
@ -46,7 +46,6 @@ set(config_module_list
|
|||
drivers/pwm_input
|
||||
drivers/camera_trigger
|
||||
drivers/bst
|
||||
drivers/snapdragon_rc_pwm
|
||||
drivers/lis3mdl
|
||||
drivers/tfmini
|
||||
|
||||
|
|
|
|||
|
|
@ -50,7 +50,6 @@ set(config_module_list
|
|||
drivers/pwm_input
|
||||
drivers/camera_trigger
|
||||
drivers/bst
|
||||
drivers/snapdragon_rc_pwm
|
||||
drivers/tfmini
|
||||
|
||||
#
|
||||
|
|
|
|||
|
|
@ -52,7 +52,6 @@ set(config_module_list
|
|||
drivers/sdp3x_airspeed
|
||||
drivers/sf0x
|
||||
drivers/sf1xx
|
||||
drivers/snapdragon_rc_pwm
|
||||
drivers/srf02
|
||||
drivers/tap_esc
|
||||
drivers/teraranger
|
||||
|
|
|
|||
|
|
@ -45,7 +45,6 @@ set(config_module_list
|
|||
#WIP drivers/pwm_input
|
||||
#WIP drivers/camera_trigger
|
||||
drivers/bst
|
||||
drivers/snapdragon_rc_pwm
|
||||
drivers/lis3mdl
|
||||
drivers/tfmini
|
||||
|
||||
|
|
|
|||
|
|
@ -48,7 +48,6 @@ set(config_module_list
|
|||
drivers/sdp3x_airspeed
|
||||
drivers/sf0x
|
||||
drivers/sf1xx
|
||||
#drivers/snapdragon_rc_pwm
|
||||
#drivers/srf02
|
||||
drivers/stm32
|
||||
drivers/stm32/adc
|
||||
|
|
|
|||
|
|
@ -45,7 +45,6 @@ set(config_module_list
|
|||
drivers/pwm_input
|
||||
drivers/camera_trigger
|
||||
#drivers/bst
|
||||
#drivers/snapdragon_rc_pwm
|
||||
#drivers/lis3mdl
|
||||
drivers/tfmini
|
||||
|
||||
|
|
|
|||
|
|
@ -54,7 +54,6 @@ set(config_module_list
|
|||
drivers/sdp3x_airspeed
|
||||
drivers/sf0x
|
||||
drivers/sf1xx
|
||||
drivers/snapdragon_rc_pwm
|
||||
drivers/srf02
|
||||
drivers/stm32
|
||||
drivers/stm32/adc
|
||||
|
|
|
|||
|
|
@ -46,7 +46,6 @@ set(config_module_list
|
|||
drivers/sdp3x_airspeed
|
||||
drivers/sf0x
|
||||
drivers/sf1xx
|
||||
drivers/snapdragon_rc_pwm
|
||||
drivers/srf02
|
||||
drivers/stm32
|
||||
drivers/stm32/adc
|
||||
|
|
|
|||
|
|
@ -46,7 +46,6 @@ set(config_module_list
|
|||
drivers/sdp3x_airspeed
|
||||
drivers/sf0x
|
||||
drivers/sf1xx
|
||||
drivers/snapdragon_rc_pwm
|
||||
drivers/srf02
|
||||
drivers/stm32
|
||||
drivers/stm32/adc
|
||||
|
|
|
|||
|
|
@ -46,7 +46,6 @@ set(config_module_list
|
|||
drivers/sdp3x_airspeed
|
||||
drivers/sf0x
|
||||
drivers/sf1xx
|
||||
drivers/snapdragon_rc_pwm
|
||||
drivers/srf02
|
||||
drivers/stm32
|
||||
drivers/stm32/adc
|
||||
|
|
|
|||
|
|
@ -41,7 +41,6 @@ set(config_module_list
|
|||
drivers/rgbled
|
||||
drivers/sdp3x_airspeed
|
||||
drivers/sf0x
|
||||
drivers/snapdragon_rc_pwm
|
||||
drivers/srf02
|
||||
drivers/stm32
|
||||
drivers/stm32/adc
|
||||
|
|
|
|||
|
|
@ -1,45 +0,0 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2016 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__snapdragon_rc_pwm
|
||||
MAIN snapdragon_rc_pwm
|
||||
COMPILE_FLAGS
|
||||
-DMAVLINK_COMM_NUM_BUFFERS=1
|
||||
INCLUDES
|
||||
${PX4_SOURCE_DIR}/mavlink/include/mavlink
|
||||
SRCS
|
||||
snapdragon_rc_pwm.cpp
|
||||
DEPENDS
|
||||
platforms__common
|
||||
)
|
||||
|
|
@ -1,481 +0,0 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2016 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 snapdragon_rc_pwm.cpp
|
||||
* @author Roman Bapst <roman@px4.io>
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
*
|
||||
* This driver sends RC commands to the Snapdragon via UART. On the same UART
|
||||
* it receives pwm motor commands from the Snapdragon.
|
||||
*/
|
||||
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include <px4_tasks.h>
|
||||
#include <px4_getopt.h>
|
||||
#include <px4_posix.h>
|
||||
#include <errno.h>
|
||||
#include <string.h>
|
||||
#include <termios.h>
|
||||
#include <uORB/topics/input_rc.h>
|
||||
#include <uORB/topics/actuator_controls.h>
|
||||
|
||||
#include <v2.0/mavlink_types.h>
|
||||
#include <v2.0/common/mavlink.h>
|
||||
|
||||
#include "drivers/drv_pwm_output.h"
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
|
||||
#define MAX_LEN_DEV_PATH 32
|
||||
|
||||
namespace snapdragon_rc_pwm
|
||||
{
|
||||
|
||||
static const uint8_t mavlink_message_lengths[256] = MAVLINK_MESSAGE_LENGTHS;
|
||||
static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
|
||||
|
||||
volatile bool _task_should_exit = false; // flag indicating if snapdragon_rc_pwm task should exit
|
||||
static char _device[MAX_LEN_DEV_PATH];
|
||||
static bool _is_running = false; // flag indicating if snapdragon_rc_pwm app is running
|
||||
static px4_task_t _task_handle = -1; // handle to the task main thread
|
||||
static int _uart_fd = -1;
|
||||
int _pwm_fd = -1;
|
||||
static bool _flow_control_enabled = false;
|
||||
int _rc_sub = -1;
|
||||
int32_t _pwm_disarmed;
|
||||
|
||||
hrt_abstime _last_actuator_controls_received = 0;
|
||||
|
||||
struct input_rc_s _rc = {};
|
||||
|
||||
// Print out the usage information
|
||||
void usage();
|
||||
|
||||
void start();
|
||||
|
||||
/** snapdragon_rc_pwm stop */
|
||||
void stop();
|
||||
|
||||
int initialise_uart();
|
||||
|
||||
int deinitialize_uart();
|
||||
|
||||
int enable_flow_control(bool enabled);
|
||||
|
||||
void send_rc_mavlink();
|
||||
|
||||
void handle_message(mavlink_message_t *msg);
|
||||
|
||||
void set_pwm_output(mavlink_actuator_control_target_t *actuator_controls);
|
||||
|
||||
/** task main trampoline function */
|
||||
void task_main_trampoline(int argc, char *argv[]);
|
||||
|
||||
/** snapdragon_rc_pwm thread primary entry point */
|
||||
void task_main(int argc, char *argv[]);
|
||||
|
||||
void task_main(int argc, char *argv[])
|
||||
{
|
||||
char serial_buf[128];
|
||||
mavlink_status_t serial_status = {};
|
||||
|
||||
_rc_sub = orb_subscribe(ORB_ID(input_rc));
|
||||
|
||||
|
||||
initialise_uart();
|
||||
|
||||
_pwm_fd = open(PWM_OUTPUT0_DEVICE_PATH, 0);
|
||||
|
||||
if (_pwm_fd < 0) {
|
||||
PX4_ERR("can't open %s", PWM_OUTPUT0_DEVICE_PATH);
|
||||
return;
|
||||
}
|
||||
|
||||
// we wait for uart actuator controls messages from snapdragon
|
||||
px4_pollfd_struct_t fds[1];
|
||||
fds[0].fd = _uart_fd;
|
||||
fds[0].events = POLLIN;
|
||||
|
||||
param_get(param_find("PWM_DISARMED"), &_pwm_disarmed);
|
||||
|
||||
while (!_task_should_exit) {
|
||||
|
||||
// wait for up to 100ms for data
|
||||
int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
|
||||
|
||||
// timed out
|
||||
if (pret == 0) {
|
||||
// let's run the loop anyway to send RC
|
||||
}
|
||||
|
||||
if (pret < 0) {
|
||||
PX4_WARN("snapdragon_rc_pwm poll error");
|
||||
// sleep a bit before next try
|
||||
usleep(100000);
|
||||
continue;
|
||||
}
|
||||
|
||||
if (fds[0].revents & POLLIN) {
|
||||
int len = ::read(_uart_fd, serial_buf, sizeof(serial_buf));
|
||||
|
||||
if (len > 0) {
|
||||
mavlink_message_t msg;
|
||||
|
||||
for (int i = 0; i < len; ++i) {
|
||||
if (mavlink_parse_char(MAVLINK_COMM_0, serial_buf[i], &msg, &serial_status)) {
|
||||
// have a message, handle it
|
||||
handle_message(&msg);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// check if we have new rc data, if yes send it to snapdragon
|
||||
bool rc_updated = false;
|
||||
orb_check(_rc_sub, &rc_updated);
|
||||
|
||||
if (rc_updated) {
|
||||
orb_copy(ORB_ID(input_rc), _rc_sub, &_rc);
|
||||
// send mavlink message
|
||||
send_rc_mavlink();
|
||||
}
|
||||
|
||||
// Turn motors off after timeout of 0.1s.
|
||||
if (hrt_elapsed_time(&_last_actuator_controls_received) > 100000) {
|
||||
set_pwm_output(nullptr);
|
||||
}
|
||||
}
|
||||
|
||||
deinitialize_uart();
|
||||
close(_pwm_fd);
|
||||
|
||||
}
|
||||
|
||||
void handle_message(mavlink_message_t *msg)
|
||||
{
|
||||
if (msg->msgid == MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET) {
|
||||
mavlink_actuator_control_target_t actuator_controls;
|
||||
mavlink_msg_actuator_control_target_decode(msg, &actuator_controls);
|
||||
|
||||
//static unsigned counter = 0;
|
||||
//if (counter++ % 250 == 0) {
|
||||
// PX4_INFO("got motor controls %.2f %.2f %.2f %.2f",
|
||||
// (double)actuator_controls.controls[0],
|
||||
// (double)actuator_controls.controls[1],
|
||||
// (double)actuator_controls.controls[2],
|
||||
// (double)actuator_controls.controls[3]);
|
||||
//}
|
||||
set_pwm_output(&actuator_controls);
|
||||
|
||||
_last_actuator_controls_received = hrt_absolute_time();
|
||||
}
|
||||
}
|
||||
|
||||
void set_pwm_output(mavlink_actuator_control_target_t *actuator_controls)
|
||||
{
|
||||
if (actuator_controls == nullptr) {
|
||||
// Without valid argument, set all channels to PWM_DISARMED
|
||||
for (unsigned i = 0; i < PWM_OUTPUT_MAX_CHANNELS; i++) {
|
||||
int ret = ::ioctl(_pwm_fd, PWM_SERVO_SET(i), _pwm_disarmed);
|
||||
|
||||
if (ret != OK) {
|
||||
PX4_ERR("PWM_SERVO_SET(%d)", i);
|
||||
}
|
||||
}
|
||||
|
||||
} else {
|
||||
for (unsigned i = 0; i < sizeof(actuator_controls->controls) / sizeof(actuator_controls->controls[0]); i++) {
|
||||
if (!isnan(actuator_controls->controls[i])) {
|
||||
long unsigned pwm = actuator_controls->controls[i];
|
||||
int ret = ::ioctl(_pwm_fd, PWM_SERVO_SET(i), pwm);
|
||||
|
||||
if (ret != OK) {
|
||||
PX4_ERR("PWM_SERVO_SET(%d)", i);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void send_rc_mavlink()
|
||||
{
|
||||
mavlink_rc_channels_t rc_message;
|
||||
rc_message.time_boot_ms = _rc.timestamp / 1000;
|
||||
rc_message.chancount = _rc.channel_count;
|
||||
rc_message.chan1_raw = (_rc.channel_count > 0) ? _rc.values[0] : UINT16_MAX;
|
||||
rc_message.chan2_raw = (_rc.channel_count > 1) ? _rc.values[1] : UINT16_MAX;
|
||||
rc_message.chan3_raw = (_rc.channel_count > 2) ? _rc.values[2] : UINT16_MAX;
|
||||
rc_message.chan4_raw = (_rc.channel_count > 3) ? _rc.values[3] : UINT16_MAX;
|
||||
rc_message.chan5_raw = (_rc.channel_count > 4) ? _rc.values[4] : UINT16_MAX;
|
||||
rc_message.chan6_raw = (_rc.channel_count > 5) ? _rc.values[5] : UINT16_MAX;
|
||||
rc_message.chan7_raw = (_rc.channel_count > 6) ? _rc.values[6] : UINT16_MAX;
|
||||
rc_message.chan8_raw = (_rc.channel_count > 7) ? _rc.values[7] : UINT16_MAX;
|
||||
rc_message.chan9_raw = (_rc.channel_count > 8) ? _rc.values[8] : UINT16_MAX;
|
||||
rc_message.chan10_raw = (_rc.channel_count > 9) ? _rc.values[9] : UINT16_MAX;
|
||||
rc_message.chan11_raw = (_rc.channel_count > 10) ? _rc.values[10] : UINT16_MAX;
|
||||
rc_message.chan12_raw = (_rc.channel_count > 11) ? _rc.values[11] : UINT16_MAX;
|
||||
rc_message.chan13_raw = (_rc.channel_count > 12) ? _rc.values[12] : UINT16_MAX;
|
||||
rc_message.chan14_raw = (_rc.channel_count > 13) ? _rc.values[13] : UINT16_MAX;
|
||||
rc_message.chan15_raw = (_rc.channel_count > 14) ? _rc.values[14] : UINT16_MAX;
|
||||
rc_message.chan16_raw = (_rc.channel_count > 15) ? _rc.values[15] : UINT16_MAX;
|
||||
rc_message.chan17_raw = (_rc.channel_count > 16) ? _rc.values[16] : UINT16_MAX;
|
||||
rc_message.chan18_raw = (_rc.channel_count > 17) ? _rc.values[17] : UINT16_MAX;
|
||||
rc_message.rssi = _rc.rssi;
|
||||
|
||||
const uint8_t msgid = MAVLINK_MSG_ID_RC_CHANNELS;
|
||||
uint8_t component_ID = 0;
|
||||
uint8_t payload_len = mavlink_message_lengths[msgid];
|
||||
unsigned packet_len = payload_len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
|
||||
|
||||
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
|
||||
|
||||
/* header */
|
||||
buf[0] = MAVLINK_STX;
|
||||
buf[1] = payload_len;
|
||||
/* no idea which numbers should be here*/
|
||||
buf[2] = 100;
|
||||
buf[3] = 0;
|
||||
buf[4] = component_ID;
|
||||
buf[5] = msgid;
|
||||
|
||||
/* payload */
|
||||
memcpy(&buf[MAVLINK_NUM_HEADER_BYTES], (const void *)&rc_message, payload_len);
|
||||
|
||||
/* checksum */
|
||||
uint16_t checksum;
|
||||
crc_init(&checksum);
|
||||
crc_accumulate_buffer(&checksum, (const char *) &buf[1], MAVLINK_CORE_HEADER_LEN + payload_len);
|
||||
crc_accumulate(mavlink_message_crcs[msgid], &checksum);
|
||||
|
||||
buf[MAVLINK_NUM_HEADER_BYTES + payload_len] = (uint8_t)(checksum & 0xFF);
|
||||
buf[MAVLINK_NUM_HEADER_BYTES + payload_len + 1] = (uint8_t)(checksum >> 8);
|
||||
|
||||
int len = ::write(_uart_fd, &buf[0], packet_len);
|
||||
|
||||
//static unsigned counter = 0;
|
||||
//if (counter++ % 100 == 0) {
|
||||
// PX4_INFO("sent %d %d %d %d %d %d", len,
|
||||
// rc_message.chan1_raw,
|
||||
// rc_message.chan2_raw,
|
||||
// rc_message.chan3_raw,
|
||||
// rc_message.chan4_raw,
|
||||
// rc_message.chan5_raw);
|
||||
//}
|
||||
|
||||
if (len < 1) {
|
||||
PX4_WARN("failed sending rc mavlink message");
|
||||
}
|
||||
}
|
||||
|
||||
int initialise_uart()
|
||||
{
|
||||
// open uart
|
||||
_uart_fd = px4_open(_device, O_RDWR | O_NOCTTY);
|
||||
int termios_state = -1;
|
||||
|
||||
if (_uart_fd < 0) {
|
||||
PX4_ERR("failed to open uart device!");
|
||||
return -1;
|
||||
}
|
||||
|
||||
// set baud rate
|
||||
int speed = B921600;
|
||||
struct termios uart_config;
|
||||
tcgetattr(_uart_fd, &uart_config);
|
||||
// clear ONLCR flag (which appends a CR for every LF)
|
||||
uart_config.c_oflag &= ~ONLCR;
|
||||
|
||||
/* Set baud rate */
|
||||
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
|
||||
warnx("ERR SET BAUD %s: %d\n", _device, termios_state);
|
||||
::close(_uart_fd);
|
||||
return -1;
|
||||
}
|
||||
|
||||
if ((termios_state = tcsetattr(_uart_fd, TCSANOW, &uart_config)) < 0) {
|
||||
PX4_WARN("ERR SET CONF %s\n", _device);
|
||||
px4_close(_uart_fd);
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* setup output flow control */
|
||||
if (enable_flow_control(false)) {
|
||||
PX4_WARN("hardware flow disable failed");
|
||||
}
|
||||
|
||||
return _uart_fd;
|
||||
}
|
||||
|
||||
int enable_flow_control(bool enabled)
|
||||
{
|
||||
struct termios uart_config;
|
||||
|
||||
int ret = tcgetattr(_uart_fd, &uart_config);
|
||||
|
||||
if (enabled) {
|
||||
uart_config.c_cflag |= CRTSCTS;
|
||||
|
||||
} else {
|
||||
uart_config.c_cflag &= ~CRTSCTS;
|
||||
}
|
||||
|
||||
ret = tcsetattr(_uart_fd, TCSANOW, &uart_config);
|
||||
|
||||
if (!ret) {
|
||||
_flow_control_enabled = enabled;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int deinitialize_uart()
|
||||
{
|
||||
return close(_uart_fd);
|
||||
}
|
||||
|
||||
// snapdragon_rc_pwm main entrance
|
||||
void task_main_trampoline(int argc, char *argv[])
|
||||
{
|
||||
task_main(argc, argv);
|
||||
}
|
||||
|
||||
void start()
|
||||
{
|
||||
ASSERT(_task_handle == -1);
|
||||
|
||||
/* start the task */
|
||||
_task_handle = px4_task_spawn_cmd("snapdragon_rc_pwm_main",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX,
|
||||
2000,
|
||||
(px4_main_t)&task_main_trampoline,
|
||||
nullptr);
|
||||
|
||||
if (_task_handle < 0) {
|
||||
warn("task start failed");
|
||||
return;
|
||||
}
|
||||
|
||||
_is_running = true;
|
||||
}
|
||||
|
||||
void stop()
|
||||
{
|
||||
// TODO - set thread exit signal to terminate the task main thread
|
||||
|
||||
_task_should_exit = true;
|
||||
|
||||
_is_running = false;
|
||||
_task_handle = -1;
|
||||
}
|
||||
|
||||
void usage()
|
||||
{
|
||||
PX4_WARN("missing command: try 'start', 'stop', 'status'");
|
||||
PX4_WARN("options:");
|
||||
PX4_WARN(" -d device");
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int snapdragon_rc_pwm_main(int argc, char *argv[]);
|
||||
|
||||
int snapdragon_rc_pwm_main(int argc, char *argv[])
|
||||
{
|
||||
const char *device = NULL;
|
||||
int ch;
|
||||
int myoptind = 1;
|
||||
const char *myoptarg = NULL;
|
||||
|
||||
while ((ch = px4_getopt(argc, argv, "d:", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'd':
|
||||
device = myoptarg;
|
||||
break;
|
||||
|
||||
default:
|
||||
snapdragon_rc_pwm::usage();
|
||||
return 1;
|
||||
}
|
||||
}
|
||||
|
||||
const char *verb = argv[myoptind];
|
||||
|
||||
/*
|
||||
* Start/load the driver.
|
||||
*/
|
||||
if (!strcmp(verb, "start")) {
|
||||
|
||||
// Check on required arguments
|
||||
if (device == NULL || strlen(device) == 0) {
|
||||
snapdragon_rc_pwm::usage();
|
||||
return 1;
|
||||
}
|
||||
|
||||
memset(snapdragon_rc_pwm::_device, 0, MAX_LEN_DEV_PATH);
|
||||
strncpy(snapdragon_rc_pwm::_device, device, strlen(device));
|
||||
|
||||
|
||||
if (snapdragon_rc_pwm::_is_running) {
|
||||
PX4_WARN("snapdragon_rc_pwm already running");
|
||||
return 1;
|
||||
}
|
||||
|
||||
snapdragon_rc_pwm::start();
|
||||
}
|
||||
|
||||
else if (!strcmp(verb, "stop")) {
|
||||
if (!snapdragon_rc_pwm::_is_running) {
|
||||
PX4_WARN("snapdragon_rc_pwm is not running");
|
||||
return 1;
|
||||
}
|
||||
|
||||
snapdragon_rc_pwm::stop();
|
||||
}
|
||||
|
||||
else if (!strcmp(verb, "status")) {
|
||||
PX4_WARN("snapdragon_rc_pwm is %s", snapdragon_rc_pwm::_is_running ? "running" : "stopped");
|
||||
return 0;
|
||||
|
||||
} else {
|
||||
snapdragon_rc_pwm::usage();
|
||||
return 1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
Loading…
Reference in New Issue