mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-30 13:51:19 +08:00
spektrum_rc: move and clean up (untested)
This commit is contained in:
Julian Oes
Lorenz Meier
@@ -68,8 +68,8 @@ set(config_module_list
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# PX4 drivers
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#
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drivers/gps
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#drivers/pwm_out_rc_in
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platforms/posix/drivers/df_spektrum_rc
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drivers/pwm_out_rc_in
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drivers/spektrum_rc
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drivers/qshell/qurt
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drivers/snapdragon_pwm_out
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Binary file not shown.
+3
-6
@@ -31,15 +31,12 @@
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#
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############################################################################
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include_directories(../../../../lib/DriverFramework/drivers)
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px4_add_module(
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MODULE platforms__posix__drivers__df_spektrum_rc
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MAIN df_spektrum_rc
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MODULE drivers__spektrum_rc
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MAIN spektrum_rc
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SRCS
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df_spektrum_rc.cpp
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spektrum_rc.cpp
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DEPENDS
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platforms__common
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df_driver_framework
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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@@ -0,0 +1,304 @@
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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
|
||||
* are met:
|
||||
*
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||||
* 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.
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||||
* 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
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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 spektrum_rc.cpp
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*
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* This is a driver for a Spektrum satellite receiver connected to a Snapdragon
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* on the serial port. By default port J15 (next to USB) is used.
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*/
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#include <px4_tasks.h>
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#include <px4_posix.h>
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#include <lib/rc/dsm.h>
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#include <drivers/drv_rc_input.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/input_rc.h>
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// Snapdraogon: use J15 (next to USB)
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#define SPEKTRUM_UART_DEVICE_PATH "/dev/tty-1"
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#define UNUSED(x) (void)(x)
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extern "C" { __EXPORT int spektrum_rc_main(int argc, char *argv[]); }
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namespace spektrum_rc
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{
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volatile bool _task_should_exit = false;
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static bool _is_running = false;
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static px4_task_t _task_handle = -1;
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int start();
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int stop();
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int info();
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void usage();
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void task_main(int argc, char *argv[]);
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void fill_input_rc(uint16_t raw_rc_count, uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS],
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hrt_abstime now, bool frame_drop, bool failsafe, unsigned frame_drops, int rssi,
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input_rc_s &input_rc);
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void task_main(int argc, char *argv[])
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{
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int uart_fd = dsm_init(SPEKTRUM_UART_DEVICE_PATH);
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if (uart_fd < 1) {
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PX4_ERR("dsm init failed");
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return;
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}
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orb_advert_t rc_pub = nullptr;
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// Use a buffer size of the double of the minimum, just to be safe.
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uint8_t rx_buf[2 * DSM_BUFFER_SIZE];
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// Set up poll topic
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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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_is_running = true;
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// Main loop
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while (!_task_should_exit) {
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int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 10);
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/* Timed out, do a periodic check for _task_should_exit. */
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if (pret == 0) {
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continue;
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}
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if (pret < 0) {
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PX4_WARN("poll error %d, %d", pret, errno);
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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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}
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if (!(fds[0].revents & POLLIN)) {
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// There is only one fd in poll, so this should be impossible.
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PX4_WARN("poll bit not set");
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continue;
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}
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int newbytes = ::read(uart_fd, &rx_buf[0], sizeof(rx_buf));
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if (newbytes < 0) {
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PX4_WARN("read failed");
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continue;
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}
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if (newbytes == 0) {
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PX4_WARN("read nothing");
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continue;
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}
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const hrt_abstime now = hrt_absolute_time();
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bool dsm_11_bit;
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unsigned frame_drops;
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uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS];
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uint16_t raw_rc_count;
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// parse new data
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bool rc_updated = dsm_parse(now, rx_buf, newbytes, &raw_rc_values[0], &raw_rc_count,
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&dsm_11_bit, &frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS);
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UNUSED(dsm_11_bit);
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if (rc_updated) {
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input_rc_s input_rc = {};
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// We don't know RSSI.
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const int rssi = -1;
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fill_input_rc(raw_rc_count, raw_rc_values, now, false, false, frame_drops, rssi,
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input_rc);
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if (rc_pub == nullptr) {
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rc_pub = orb_advertise(ORB_ID(input_rc), &input_rc);
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} else {
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orb_publish(ORB_ID(input_rc), rc_pub, &input_rc);
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}
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}
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}
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orb_unadvertise(rc_pub);
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dsm_deinit();
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_is_running = false;
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}
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void fill_input_rc(uint16_t raw_rc_count, uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS],
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hrt_abstime now, bool frame_drop, bool failsafe, unsigned frame_drops, int rssi,
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input_rc_s &input_rc)
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{
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input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_QURT;
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input_rc.channel_count = raw_rc_count;
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if (input_rc.channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
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input_rc.channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
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}
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unsigned valid_chans = 0;
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for (unsigned i = 0; i < input_rc.channel_count; ++i) {
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input_rc.values[i] = raw_rc_values[i];
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if (raw_rc_values[i] != UINT16_MAX) {
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valid_chans++;
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}
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}
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input_rc.timestamp = now;
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input_rc.timestamp_last_signal = input_rc.timestamp;
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input_rc.rc_ppm_frame_length = 0;
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/* fake rssi if no value was provided */
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if (rssi == -1) {
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input_rc.rssi = 255;
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} else {
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input_rc.rssi = rssi;
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}
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if (valid_chans == 0) {
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input_rc.rssi = 0;
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}
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input_rc.rc_failsafe = failsafe;
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input_rc.rc_lost = (valid_chans == 0);
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input_rc.rc_lost_frame_count = frame_drops;
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input_rc.rc_total_frame_count = 0;
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}
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int start()
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{
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if (_is_running) {
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PX4_WARN("already running");
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return -1;
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}
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ASSERT(_task_handle == -1);
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_task_should_exit = false;
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_task_handle = px4_task_spawn_cmd("spektrum_rc_main",
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SCHED_DEFAULT,
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SCHED_PRIORITY_DEFAULT,
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2000,
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(px4_main_t)&task_main,
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nullptr);
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if (_task_handle < 0) {
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PX4_ERR("task start failed");
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return -1;
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}
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return 0;
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}
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int stop()
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{
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if (!_is_running) {
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PX4_WARN("not running");
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return -1;
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}
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_task_should_exit = true;
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while (_is_running) {
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usleep(200000);
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PX4_INFO(".");
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}
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_task_handle = -1;
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return 0;
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}
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int info()
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{
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PX4_INFO("running: %s", _is_running ? "yes" : "no");
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return 0;
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}
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void
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usage()
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{
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PX4_INFO("Usage: spektrum_rc 'start', 'info', 'stop'");
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}
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} // namespace spektrum_rc
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int spektrum_rc_main(int argc, char *argv[])
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{
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int myoptind = 1;
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if (argc <= 1) {
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spektrum_rc::usage();
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return 1;
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}
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const char *verb = argv[myoptind];
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if (!strcmp(verb, "start")) {
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return spektrum_rc::start();
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}
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else if (!strcmp(verb, "stop")) {
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return spektrum_rc::stop();
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}
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else if (!strcmp(verb, "info")) {
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return spektrum_rc::info();
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}
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else {
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spektrum_rc::usage();
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return 1;
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}
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}
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@@ -1,311 +0,0 @@
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/****************************************************************************
|
||||
*
|
||||
* 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 df_spektrum_rc.cpp
|
||||
*
|
||||
* This is a wrapper around the Parrot Bebop bus driver of the DriverFramework. It sends the
|
||||
* motor and contol commands to the Bebop and reads its status and informations.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
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|
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#include <px4_tasks.h>
|
||||
#include <px4_getopt.h>
|
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#include <px4_posix.h>
|
||||
|
||||
#include <errno.h>
|
||||
#include <string.h>
|
||||
#include <DevMgr.hpp>
|
||||
|
||||
#include <lib/rc/dsm.h>
|
||||
#include <drivers/drv_rc_input.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#include <uORB/topics/input_rc.h>
|
||||
|
||||
#define SPEKTRUM_UART_DEVICE_PATH "/dev/serialABC"
|
||||
#define SBUS_BUFFER_SIZE 128
|
||||
|
||||
extern "C" { __EXPORT int df_spektrum_rc_main(int argc, char *argv[]); }
|
||||
|
||||
namespace df_spektrum_rc
|
||||
{
|
||||
|
||||
volatile bool _task_should_exit = false; // flag indicating if bebop esc control task should exit
|
||||
static bool _is_running = false; // flag indicating if bebop esc app is running
|
||||
static px4_task_t _task_handle = -1; // handle to the task main thread
|
||||
|
||||
input_rc_s _rc_in;
|
||||
float _analog_rc_rssi_volt;
|
||||
bool _analog_rc_rssi_stable;
|
||||
|
||||
int start();
|
||||
int stop();
|
||||
int info();
|
||||
void usage();
|
||||
void task_main(int argc, char *argv[]);
|
||||
void fill_rc_in(uint16_t raw_rc_count,
|
||||
uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS],
|
||||
hrt_abstime now, bool frame_drop, bool failsafe,
|
||||
unsigned frame_drops, int rssi = -1);
|
||||
|
||||
void task_main(int argc, char *argv[])
|
||||
{
|
||||
// publications
|
||||
orb_advert_t rc_pub = nullptr;
|
||||
uint8_t _rcs_buf[50];
|
||||
|
||||
// important to keep these buffers out of the stack
|
||||
// as they might need to be accumulated over multiple
|
||||
// iterations of the inner loop
|
||||
uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS];
|
||||
uint16_t raw_rc_count;
|
||||
unsigned frame_drops;
|
||||
bool dsm_11_bit;
|
||||
|
||||
int uart_fd = dsm_init(SPEKTRUM_UART_DEVICE_PATH);
|
||||
|
||||
_is_running = true;
|
||||
|
||||
// Set up poll topic
|
||||
px4_pollfd_struct_t fds[1];
|
||||
fds[0].fd = uart_fd;
|
||||
fds[0].events = POLLIN;
|
||||
|
||||
// Main loop
|
||||
while (!_task_should_exit) {
|
||||
|
||||
int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 10);
|
||||
|
||||
/* Timed out, do a periodic check for _task_should_exit. */
|
||||
if (pret == 0) {
|
||||
continue;
|
||||
}
|
||||
|
||||
/* This is undesirable but not much we can do. */
|
||||
if (pret < 0) {
|
||||
PX4_WARN("poll error %d, %d", pret, errno);
|
||||
/* sleep a bit before next try */
|
||||
usleep(100000);
|
||||
continue;
|
||||
}
|
||||
|
||||
if (fds[0].revents & POLLIN) {
|
||||
|
||||
int newbytes = ::read(uart_fd, &_rcs_buf[0], SBUS_BUFFER_SIZE);
|
||||
|
||||
if (newbytes > 0) {
|
||||
|
||||
hrt_abstime now = hrt_absolute_time();
|
||||
|
||||
// parse new data
|
||||
bool rc_updated = dsm_parse(now, &_rcs_buf[0], newbytes, &raw_rc_values[0], &raw_rc_count,
|
||||
&dsm_11_bit, &frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS);
|
||||
|
||||
if (rc_updated) {
|
||||
|
||||
// we have a new DSM frame. Publish it.
|
||||
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_DSM;
|
||||
fill_rc_in(raw_rc_count, raw_rc_values, now,
|
||||
false, false, frame_drops);
|
||||
|
||||
if (rc_pub == nullptr) {
|
||||
rc_pub = orb_advertise(ORB_ID(input_rc), &_rc_in);
|
||||
|
||||
} else {
|
||||
orb_publish(ORB_ID(input_rc), rc_pub, &_rc_in);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
orb_unadvertise(rc_pub);
|
||||
|
||||
_is_running = false;
|
||||
|
||||
}
|
||||
|
||||
void
|
||||
fill_rc_in(uint16_t raw_rc_count,
|
||||
uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS],
|
||||
hrt_abstime now, bool frame_drop, bool failsafe,
|
||||
unsigned frame_drops, int rssi)
|
||||
{
|
||||
// fill rc_in struct for publishing
|
||||
_rc_in.channel_count = raw_rc_count;
|
||||
|
||||
if (_rc_in.channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
|
||||
_rc_in.channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
|
||||
}
|
||||
|
||||
unsigned valid_chans = 0;
|
||||
|
||||
for (unsigned i = 0; i < _rc_in.channel_count; i++) {
|
||||
_rc_in.values[i] = raw_rc_values[i];
|
||||
|
||||
if (raw_rc_values[i] != UINT16_MAX) {
|
||||
valid_chans++;
|
||||
}
|
||||
}
|
||||
|
||||
_rc_in.timestamp = now;
|
||||
_rc_in.timestamp_last_signal = _rc_in.timestamp;
|
||||
_rc_in.rc_ppm_frame_length = 0;
|
||||
|
||||
/* fake rssi if no value was provided */
|
||||
if (rssi == -1) {
|
||||
|
||||
/* set RSSI if analog RSSI input is present */
|
||||
if (_analog_rc_rssi_stable) {
|
||||
float rssi_analog = ((_analog_rc_rssi_volt - 0.2f) / 3.0f) * 100.0f;
|
||||
|
||||
if (rssi_analog > 100.0f) {
|
||||
rssi_analog = 100.0f;
|
||||
}
|
||||
|
||||
if (rssi_analog < 0.0f) {
|
||||
rssi_analog = 0.0f;
|
||||
}
|
||||
|
||||
_rc_in.rssi = rssi_analog;
|
||||
|
||||
} else {
|
||||
_rc_in.rssi = 255;
|
||||
}
|
||||
|
||||
} else {
|
||||
_rc_in.rssi = rssi;
|
||||
}
|
||||
|
||||
if (valid_chans == 0) {
|
||||
_rc_in.rssi = 0;
|
||||
}
|
||||
|
||||
_rc_in.rc_failsafe = failsafe;
|
||||
_rc_in.rc_lost = (valid_chans == 0);
|
||||
_rc_in.rc_lost_frame_count = frame_drops;
|
||||
_rc_in.rc_total_frame_count = 0;
|
||||
}
|
||||
|
||||
int start()
|
||||
{
|
||||
// Start the task to handle RC
|
||||
ASSERT(_task_handle == -1);
|
||||
|
||||
/* start the task */
|
||||
_task_handle = px4_task_spawn_cmd("spektrum_rc_main",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_DEFAULT,
|
||||
2000,
|
||||
(px4_main_t)&task_main,
|
||||
nullptr);
|
||||
|
||||
if (_task_handle < 0) {
|
||||
warn("task start failed");
|
||||
return -1;
|
||||
}
|
||||
|
||||
_is_running = true;
|
||||
return 0;
|
||||
}
|
||||
|
||||
int stop()
|
||||
{
|
||||
// Stop bebop motor control task
|
||||
_task_should_exit = true;
|
||||
|
||||
while (_is_running) {
|
||||
usleep(200000);
|
||||
PX4_INFO(".");
|
||||
}
|
||||
|
||||
_task_handle = -1;
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Print a little info about the driver.
|
||||
*/
|
||||
int
|
||||
info()
|
||||
{
|
||||
PX4_INFO("info");
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void
|
||||
usage()
|
||||
{
|
||||
PX4_INFO("Usage: df_spektrum_rc 'start', 'info', 'stop'");
|
||||
}
|
||||
|
||||
} /* df_spektrum_rc */
|
||||
|
||||
|
||||
int
|
||||
df_spektrum_rc_main(int argc, char *argv[])
|
||||
{
|
||||
int ret = 0;
|
||||
int myoptind = 1;
|
||||
|
||||
if (argc <= 1) {
|
||||
df_spektrum_rc::usage();
|
||||
return 1;
|
||||
}
|
||||
|
||||
const char *verb = argv[myoptind];
|
||||
|
||||
|
||||
if (!strcmp(verb, "start")) {
|
||||
ret = df_spektrum_rc::start();
|
||||
}
|
||||
|
||||
else if (!strcmp(verb, "stop")) {
|
||||
ret = df_spektrum_rc::stop();
|
||||
}
|
||||
|
||||
else if (!strcmp(verb, "info")) {
|
||||
ret = df_spektrum_rc::info();
|
||||
}
|
||||
|
||||
else {
|
||||
df_spektrum_rc::usage();
|
||||
return 1;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
Reference in New Issue
Block a user