forked from Archive/PX4-Autopilot
delete snapdragon_rc_pwm and passthrough config
This commit is contained in:
Daniel Agar
parent
fd7d4156fd
commit
992db1f415
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@ -1,19 +0,0 @@
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#!nsh
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#
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# @name Passthrough mode for Snapdragon
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#
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# @type custom
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# @class Tool
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#
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# @board px4fmu-v2 exclude
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# @board px4fmu-v3 exclude
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# @board px4fmu-v4pro exclude
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# @board px4fmu-v5 exclude
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# @board aerofc-v1 exclude
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#
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# @maintainer Julian Oes <julian@oes.ch>
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#
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# This startup can be used on Pixhawk/Pixfalcon/Pixracer for the
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# passthrough of RC input and PWM output.
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set VEHICLE_TYPE passthrough
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@ -898,46 +898,6 @@ then
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sh /etc/init.d/rc.ugv_apps
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sh /etc/init.d/rc.ugv_apps
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fi
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fi
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#
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# For snapdragon, we need a passthrough mode
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# Do not run any mavlink instances since we need the serial port for
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# communication with Snapdragon.
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#
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if [ $VEHICLE_TYPE == passthrough ]
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then
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mavlink stop-all
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commander stop
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# Stop multicopter attitude controller if it is running, the controls come
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# from Snapdragon.
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if mc_att_control stop
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then
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fi
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# Start snapdragon interface on serial port.
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if ver hwcmp PX4FMU_V2
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then
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# On Pixfalcon use the standard telemetry port (Telem 1).
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snapdragon_rc_pwm start -d /dev/ttyS1
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px4io start
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fi
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if ver hwcmp PX4FMU_V4
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then
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# On Pixracer use Telem 2 port (TL2).
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snapdragon_rc_pwm start -d /dev/ttyS2
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fmu mode_pwm4 $FMU_ARGS
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fi
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pwm failsafe -c 1234 -p 900
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pwm disarmed -c 1234 -p 900
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# Arm straightaway.
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pwm arm
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# Use 400 Hz PWM on all channels.
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pwm rate -a -r 400
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fi
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unset MIXER
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unset MIXER
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unset MAV_TYPE
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unset MAV_TYPE
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unset OUTPUT_MODE
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unset OUTPUT_MODE
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@ -46,7 +46,6 @@ set(config_module_list
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drivers/pwm_input
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drivers/pwm_input
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drivers/camera_trigger
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drivers/camera_trigger
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drivers/bst
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drivers/bst
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drivers/snapdragon_rc_pwm
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drivers/lis3mdl
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drivers/lis3mdl
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drivers/tfmini
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drivers/tfmini
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@ -50,7 +50,6 @@ set(config_module_list
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drivers/pwm_input
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drivers/pwm_input
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drivers/camera_trigger
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drivers/camera_trigger
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drivers/bst
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drivers/bst
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drivers/snapdragon_rc_pwm
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drivers/tfmini
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drivers/tfmini
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#
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#
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@ -52,7 +52,6 @@ set(config_module_list
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drivers/sdp3x_airspeed
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drivers/sdp3x_airspeed
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drivers/sf0x
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drivers/sf0x
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drivers/sf1xx
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drivers/sf1xx
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drivers/snapdragon_rc_pwm
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drivers/srf02
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drivers/srf02
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drivers/tap_esc
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drivers/tap_esc
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drivers/teraranger
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drivers/teraranger
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@ -45,7 +45,6 @@ set(config_module_list
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#WIP drivers/pwm_input
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#WIP drivers/pwm_input
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#WIP drivers/camera_trigger
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#WIP drivers/camera_trigger
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drivers/bst
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drivers/bst
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drivers/snapdragon_rc_pwm
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drivers/lis3mdl
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drivers/lis3mdl
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drivers/tfmini
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drivers/tfmini
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@ -48,7 +48,6 @@ set(config_module_list
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drivers/sdp3x_airspeed
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drivers/sdp3x_airspeed
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drivers/sf0x
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drivers/sf0x
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drivers/sf1xx
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drivers/sf1xx
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#drivers/snapdragon_rc_pwm
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#drivers/srf02
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#drivers/srf02
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drivers/stm32
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drivers/stm32
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drivers/stm32/adc
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drivers/stm32/adc
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@ -45,7 +45,6 @@ set(config_module_list
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drivers/pwm_input
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drivers/pwm_input
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drivers/camera_trigger
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drivers/camera_trigger
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#drivers/bst
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#drivers/bst
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#drivers/snapdragon_rc_pwm
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#drivers/lis3mdl
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#drivers/lis3mdl
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drivers/tfmini
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drivers/tfmini
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@ -54,7 +54,6 @@ set(config_module_list
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drivers/sdp3x_airspeed
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drivers/sdp3x_airspeed
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drivers/sf0x
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drivers/sf0x
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drivers/sf1xx
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drivers/sf1xx
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drivers/snapdragon_rc_pwm
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drivers/srf02
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drivers/srf02
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drivers/stm32
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drivers/stm32
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drivers/stm32/adc
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drivers/stm32/adc
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@ -46,7 +46,6 @@ set(config_module_list
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drivers/sdp3x_airspeed
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drivers/sdp3x_airspeed
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drivers/sf0x
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drivers/sf0x
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drivers/sf1xx
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drivers/sf1xx
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drivers/snapdragon_rc_pwm
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drivers/srf02
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drivers/srf02
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drivers/stm32
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drivers/stm32
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drivers/stm32/adc
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drivers/stm32/adc
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@ -46,7 +46,6 @@ set(config_module_list
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drivers/sdp3x_airspeed
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drivers/sdp3x_airspeed
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drivers/sf0x
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drivers/sf0x
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drivers/sf1xx
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drivers/sf1xx
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drivers/snapdragon_rc_pwm
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drivers/srf02
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drivers/srf02
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drivers/stm32
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drivers/stm32
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drivers/stm32/adc
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drivers/stm32/adc
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@ -46,7 +46,6 @@ set(config_module_list
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drivers/sdp3x_airspeed
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drivers/sdp3x_airspeed
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drivers/sf0x
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drivers/sf0x
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drivers/sf1xx
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drivers/sf1xx
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drivers/snapdragon_rc_pwm
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drivers/srf02
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drivers/srf02
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drivers/stm32
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drivers/stm32
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drivers/stm32/adc
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drivers/stm32/adc
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@ -41,7 +41,6 @@ set(config_module_list
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drivers/rgbled
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drivers/rgbled
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drivers/sdp3x_airspeed
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drivers/sdp3x_airspeed
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drivers/sf0x
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drivers/sf0x
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drivers/snapdragon_rc_pwm
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drivers/srf02
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drivers/srf02
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drivers/stm32
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drivers/stm32
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drivers/stm32/adc
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drivers/stm32/adc
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@ -1,45 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2016 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE drivers__snapdragon_rc_pwm
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MAIN snapdragon_rc_pwm
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COMPILE_FLAGS
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-DMAVLINK_COMM_NUM_BUFFERS=1
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INCLUDES
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${PX4_SOURCE_DIR}/mavlink/include/mavlink
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SRCS
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snapdragon_rc_pwm.cpp
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DEPENDS
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platforms__common
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)
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@ -1,481 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file snapdragon_rc_pwm.cpp
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* @author Roman Bapst <roman@px4.io>
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* @author Julian Oes <julian@oes.ch>
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*
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* This driver sends RC commands to the Snapdragon via UART. On the same UART
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* it receives pwm motor commands from the Snapdragon.
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*/
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#include <stdint.h>
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#include <px4_tasks.h>
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#include <px4_getopt.h>
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#include <px4_posix.h>
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#include <errno.h>
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#include <string.h>
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#include <termios.h>
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#include <uORB/topics/input_rc.h>
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#include <uORB/topics/actuator_controls.h>
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#include <v2.0/mavlink_types.h>
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#include <v2.0/common/mavlink.h>
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#include "drivers/drv_pwm_output.h"
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#include <drivers/drv_hrt.h>
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#define MAX_LEN_DEV_PATH 32
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namespace snapdragon_rc_pwm
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{
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static const uint8_t mavlink_message_lengths[256] = MAVLINK_MESSAGE_LENGTHS;
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static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
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volatile bool _task_should_exit = false; // flag indicating if snapdragon_rc_pwm task should exit
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static char _device[MAX_LEN_DEV_PATH];
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static bool _is_running = false; // flag indicating if snapdragon_rc_pwm app is running
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static px4_task_t _task_handle = -1; // handle to the task main thread
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static int _uart_fd = -1;
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int _pwm_fd = -1;
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static bool _flow_control_enabled = false;
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int _rc_sub = -1;
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int32_t _pwm_disarmed;
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hrt_abstime _last_actuator_controls_received = 0;
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struct input_rc_s _rc = {};
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// Print out the usage information
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void usage();
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void start();
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/** snapdragon_rc_pwm stop */
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void stop();
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int initialise_uart();
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int deinitialize_uart();
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int enable_flow_control(bool enabled);
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void send_rc_mavlink();
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void handle_message(mavlink_message_t *msg);
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void set_pwm_output(mavlink_actuator_control_target_t *actuator_controls);
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/** task main trampoline function */
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void task_main_trampoline(int argc, char *argv[]);
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/** snapdragon_rc_pwm thread primary entry point */
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void task_main(int argc, char *argv[]);
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void task_main(int argc, char *argv[])
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{
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char serial_buf[128];
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mavlink_status_t serial_status = {};
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_rc_sub = orb_subscribe(ORB_ID(input_rc));
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initialise_uart();
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_pwm_fd = open(PWM_OUTPUT0_DEVICE_PATH, 0);
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if (_pwm_fd < 0) {
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PX4_ERR("can't open %s", PWM_OUTPUT0_DEVICE_PATH);
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return;
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}
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// we wait for uart actuator controls messages from snapdragon
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px4_pollfd_struct_t fds[1];
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fds[0].fd = _uart_fd;
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fds[0].events = POLLIN;
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param_get(param_find("PWM_DISARMED"), &_pwm_disarmed);
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while (!_task_should_exit) {
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// wait for up to 100ms for data
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int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
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// timed out
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if (pret == 0) {
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// let's run the loop anyway to send RC
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}
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if (pret < 0) {
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PX4_WARN("snapdragon_rc_pwm poll error");
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// sleep a bit before next try
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usleep(100000);
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continue;
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||||||
}
|
|
||||||
|
|
||||||
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