forked from Archive/PX4-Autopilot
157 lines
4.3 KiB
C
157 lines
4.3 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 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 controls.c
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*
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* R/C inputs and servo outputs.
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*/
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#include <nuttx/config.h>
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#include <stdio.h>
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#include <stdbool.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <debug.h>
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#include <stdlib.h>
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#include <errno.h>
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#include <termios.h>
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#include <string.h>
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#include <poll.h>
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#include <nuttx/clock.h>
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#include <drivers/drv_hrt.h>
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#include <systemlib/hx_stream.h>
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#include <systemlib/perf_counter.h>
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#include <systemlib/ppm_decode.h>
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#define DEBUG
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#include "px4io.h"
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static void ppm_input(void);
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void
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controls_main(void)
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{
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struct pollfd fds[2];
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/* DSM input */
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fds[0].fd = dsm_init("/dev/ttyS0");
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fds[0].events = POLLIN;
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/* S.bus input */
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fds[1].fd = sbus_init("/dev/ttyS2");
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fds[1].events = POLLIN;
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for (;;) {
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/* run this loop at ~100Hz */
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poll(fds, 2, 10);
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/*
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* Gather R/C control inputs from supported sources.
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*
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* Note that if you're silly enough to connect more than
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* one control input source, they're going to fight each
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* other. Don't do that.
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*/
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bool locked = false;
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if (fds[0].revents & POLLIN)
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locked |= dsm_input();
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if (fds[1].revents & POLLIN)
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locked |= sbus_input();
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/*
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* If we don't have lock from one of the serial receivers,
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* look for PPM. It shares an input with S.bus, so there's
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* a possibility it will mis-parse an S.bus frame.
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*
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* XXX each S.bus frame will cause a PPM decoder interrupt
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* storm (lots of edges). It might be sensible to actually
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* disable the PPM decoder completely if we have an alternate
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* receiver lock.
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*/
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if (!locked)
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ppm_input();
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/*
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* If we haven't seen any new control data in 200ms, assume we
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* have lost input and tell FMU.
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*/
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if ((hrt_absolute_time() - system_state.rc_channels_timestamp) > 200000) {
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/* set the number of channels to zero - no inputs */
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system_state.rc_channels = 0;
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/* trigger an immediate report to the FMU */
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system_state.fmu_report_due = true;
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}
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/* XXX do bypass mode, etc. here */
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/* do PWM output updates */
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mixer_tick();
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}
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}
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static void
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ppm_input(void)
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{
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/*
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* Look for new PPM input.
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*/
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if (ppm_last_valid_decode != 0) {
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/* avoid racing with PPM updates */
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irqstate_t state = irqsave();
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/* PPM data exists, copy it */
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system_state.rc_channels = ppm_decoded_channels;
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for (unsigned i = 0; i < ppm_decoded_channels; i++)
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system_state.rc_channel_data[i] = ppm_buffer[i];
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/* copy the timestamp and clear it */
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system_state.rc_channels_timestamp = ppm_last_valid_decode;
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ppm_last_valid_decode = 0;
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irqrestore(state);
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/* trigger an immediate report to the FMU */
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system_state.fmu_report_due = true;
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}
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}
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