From 992db1f415d6452348c3dd670f6e4567567b4159 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 8 Jan 2018 02:43:03 -0500 Subject: [PATCH] delete snapdragon_rc_pwm and passthrough config --- .../init.d/20000_snapdragon_rc_pwm | 19 - ROMFS/px4fmu_common/init.d/rcS | 40 -- cmake/configs/nuttx_auav-x21_default.cmake | 1 - cmake/configs/nuttx_mindpx-v2_default.cmake | 1 - cmake/configs/nuttx_nxphlite-v3_default.cmake | 1 - .../nuttx_px4-same70xplained-v1_default.cmake | 1 - cmake/configs/nuttx_px4fmu-v2_default.cmake | 1 - cmake/configs/nuttx_px4fmu-v2_test.cmake | 1 - cmake/configs/nuttx_px4fmu-v3_default.cmake | 1 - cmake/configs/nuttx_px4fmu-v4_default.cmake | 1 - .../configs/nuttx_px4fmu-v4pro_default.cmake | 1 - cmake/configs/nuttx_px4fmu-v5_default.cmake | 1 - .../nuttx_px4nucleoF767ZI-v1_default.cmake | 1 - src/drivers/snapdragon_rc_pwm/CMakeLists.txt | 45 -- .../snapdragon_rc_pwm/snapdragon_rc_pwm.cpp | 481 ------------------ 15 files changed, 596 deletions(-) delete mode 100644 ROMFS/px4fmu_common/init.d/20000_snapdragon_rc_pwm delete mode 100644 src/drivers/snapdragon_rc_pwm/CMakeLists.txt delete mode 100644 src/drivers/snapdragon_rc_pwm/snapdragon_rc_pwm.cpp diff --git a/ROMFS/px4fmu_common/init.d/20000_snapdragon_rc_pwm b/ROMFS/px4fmu_common/init.d/20000_snapdragon_rc_pwm deleted file mode 100644 index 4230785dd0..0000000000 --- a/ROMFS/px4fmu_common/init.d/20000_snapdragon_rc_pwm +++ /dev/null @@ -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 -# -# This startup can be used on Pixhawk/Pixfalcon/Pixracer for the -# passthrough of RC input and PWM output. - -set VEHICLE_TYPE passthrough diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 591bf837f1..3a1686a67e 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -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 diff --git a/cmake/configs/nuttx_auav-x21_default.cmake b/cmake/configs/nuttx_auav-x21_default.cmake index 3a938ab14e..66db077dab 100644 --- a/cmake/configs/nuttx_auav-x21_default.cmake +++ b/cmake/configs/nuttx_auav-x21_default.cmake @@ -46,7 +46,6 @@ set(config_module_list drivers/pwm_input drivers/camera_trigger drivers/bst - drivers/snapdragon_rc_pwm drivers/lis3mdl drivers/tfmini diff --git a/cmake/configs/nuttx_mindpx-v2_default.cmake b/cmake/configs/nuttx_mindpx-v2_default.cmake index 5fecd0edc3..71d96ef92d 100644 --- a/cmake/configs/nuttx_mindpx-v2_default.cmake +++ b/cmake/configs/nuttx_mindpx-v2_default.cmake @@ -50,7 +50,6 @@ set(config_module_list drivers/pwm_input drivers/camera_trigger drivers/bst - drivers/snapdragon_rc_pwm drivers/tfmini # diff --git a/cmake/configs/nuttx_nxphlite-v3_default.cmake b/cmake/configs/nuttx_nxphlite-v3_default.cmake index ea74c9b2fd..7c6ddcef73 100644 --- a/cmake/configs/nuttx_nxphlite-v3_default.cmake +++ b/cmake/configs/nuttx_nxphlite-v3_default.cmake @@ -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 diff --git a/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake b/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake index ae836838ac..8689378686 100644 --- a/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake +++ b/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake @@ -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 diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake index 4c109a16af..1f473c242b 100644 --- a/cmake/configs/nuttx_px4fmu-v2_default.cmake +++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake @@ -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 diff --git a/cmake/configs/nuttx_px4fmu-v2_test.cmake b/cmake/configs/nuttx_px4fmu-v2_test.cmake index f581cd6ebe..a3438cecd7 100644 --- a/cmake/configs/nuttx_px4fmu-v2_test.cmake +++ b/cmake/configs/nuttx_px4fmu-v2_test.cmake @@ -45,7 +45,6 @@ set(config_module_list drivers/pwm_input drivers/camera_trigger #drivers/bst - #drivers/snapdragon_rc_pwm #drivers/lis3mdl drivers/tfmini diff --git a/cmake/configs/nuttx_px4fmu-v3_default.cmake b/cmake/configs/nuttx_px4fmu-v3_default.cmake index a5e3c2073b..dc83337837 100644 --- a/cmake/configs/nuttx_px4fmu-v3_default.cmake +++ b/cmake/configs/nuttx_px4fmu-v3_default.cmake @@ -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 diff --git a/cmake/configs/nuttx_px4fmu-v4_default.cmake b/cmake/configs/nuttx_px4fmu-v4_default.cmake index cd9859a0d9..e78b55aec0 100644 --- a/cmake/configs/nuttx_px4fmu-v4_default.cmake +++ b/cmake/configs/nuttx_px4fmu-v4_default.cmake @@ -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 diff --git a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake index eac7e57e02..2f0f78e9c2 100644 --- a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake +++ b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake @@ -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 diff --git a/cmake/configs/nuttx_px4fmu-v5_default.cmake b/cmake/configs/nuttx_px4fmu-v5_default.cmake index ca0d65453d..ea6493b6ed 100644 --- a/cmake/configs/nuttx_px4fmu-v5_default.cmake +++ b/cmake/configs/nuttx_px4fmu-v5_default.cmake @@ -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 diff --git a/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake b/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake index 4a90dae653..13d2285317 100644 --- a/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake +++ b/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake @@ -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 diff --git a/src/drivers/snapdragon_rc_pwm/CMakeLists.txt b/src/drivers/snapdragon_rc_pwm/CMakeLists.txt deleted file mode 100644 index 1fb8f59121..0000000000 --- a/src/drivers/snapdragon_rc_pwm/CMakeLists.txt +++ /dev/null @@ -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 - ) diff --git a/src/drivers/snapdragon_rc_pwm/snapdragon_rc_pwm.cpp b/src/drivers/snapdragon_rc_pwm/snapdragon_rc_pwm.cpp deleted file mode 100644 index 1a950cac10..0000000000 --- a/src/drivers/snapdragon_rc_pwm/snapdragon_rc_pwm.cpp +++ /dev/null @@ -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 - * @author Julian Oes - * - * This driver sends RC commands to the Snapdragon via UART. On the same UART - * it receives pwm motor commands from the Snapdragon. - */ - - -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -#include "drivers/drv_pwm_output.h" -#include - - -#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; -}