mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
added snapdragon rc pwm driver
This commit is contained in:
tumbili
Lorenz Meier
parent
cf98894a23
commit
07246efef9
@ -807,6 +807,15 @@ else
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mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
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fi
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# XXX Do not run any mavlink instances since we need the serial port for communication with snapdragon
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mavlink stop-all
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# XXX Stop multicopter attitude controller, the controls come from snapdragon
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mc_att_control stop
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# XXX Start snapdragon interface on serial port. On pixfalcon this is the standard telemetry port.
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snapdragon_rc_pwm start -d /dev/ttyS1
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if [ $EXIT_ON_END == yes ]
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then
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echo "Exit from nsh"
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@ -46,6 +46,7 @@ set(config_module_list
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drivers/pwm_input
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drivers/camera_trigger
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drivers/bst
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drivers/snapdragon_rc_pwm
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#
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# System commands
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@ -4,4 +4,5 @@ mavlink start -u 14556
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sleep 1
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mavlink stream -u 14556 -s HIGHRES_IMU -r 50
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mavlink stream -u 14556 -s ATTITUDE -r 50
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mavlink stream -u 14556 -s RC_CHANNELS -r 50
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mavlink boot_complete
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@ -3,6 +3,7 @@ qshell start
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param set SYS_AUTOSTART 4001
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gps start -d /dev/tty-4
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sleep 1
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param set MAV_TYPE 2
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df_mpu9250_wrapper start
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df_bmp280_wrapper start
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df_hmc5883_wrapper start
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43
src/drivers/snapdragon_rc_pwm/CMakeLists.txt
Normal file
43
src/drivers/snapdragon_rc_pwm/CMakeLists.txt
Normal file
@ -0,0 +1,43 @@
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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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-Os
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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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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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428
src/drivers/snapdragon_rc_pwm/snapdragon_rc_pwm.cpp
Normal file
428
src/drivers/snapdragon_rc_pwm/snapdragon_rc_pwm.cpp
Normal file
@ -0,0 +1,428 @@
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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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*
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* This driver sends rc commands to the Snapdragon via UART. On the same UART it receives pwm
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* 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_outputs.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/actuator_controls_0.h>
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#include <v1.0/mavlink_types.h>
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#include <v1.0/common/mavlink.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 uart_esc 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 uart_esc 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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static bool _flow_control_enabled = false;
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int _rc_sub = -1;
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orb_advert_t _actuator_controls_pub = nullptr;
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struct input_rc_s _rc = {};
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struct actuator_controls_s _actuators;
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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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/** uart_esc stop */
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void stop();
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int initialise_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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/** task main trampoline function */
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void task_main_trampoline(int argc, char *argv[]);
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/** uart_esc 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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// 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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while (true) {
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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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continue;
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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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}
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if (fds[0].revents & POLLIN) {
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int len = ::read(_uart_fd, serial_buf, sizeof(serial_buf));
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if (len > 0) {
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mavlink_message_t msg;
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for (int i = 0; i < len; ++i) {
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if (mavlink_parse_char(MAVLINK_COMM_1, serial_buf[i], &msg, &serial_status)) {
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// have a message, handle it
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handle_message(&msg);
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}
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}
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}
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// check if we have new rc data, if yes send it to snapdragon
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bool rc_updated = false;
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orb_check(_rc_sub, &rc_updated);
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if (rc_updated) {
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orb_copy(ORB_ID(input_rc), _rc_sub, &_rc);
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// send mavlink message
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send_rc_mavlink();
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}
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}
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}
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}
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void handle_message(mavlink_message_t *msg)
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{
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if (msg->msgid == MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET) {
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mavlink_actuator_control_target_t actuator_controls;
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mavlink_msg_actuator_control_target_decode(msg, &actuator_controls);
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_actuators.control[0] = actuator_controls.controls[0];
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_actuators.control[1] = actuator_controls.controls[1];
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_actuators.control[2] = actuator_controls.controls[2];
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_actuators.control[3] = actuator_controls.controls[3];
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_actuators.timestamp = hrt_absolute_time();
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// publish actuator controls received from snapdragon
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if (_actuator_controls_pub == nullptr) {
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_actuator_controls_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators);
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} else {
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orb_publish(ORB_ID(actuator_controls_0), _actuator_controls_pub, &_actuators);
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}
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}
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}
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void send_rc_mavlink()
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{
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mavlink_rc_channels_t rc_message;
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rc_message.time_boot_ms = _rc.timestamp_publication / 1000;
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rc_message.chancount = _rc.channel_count;
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rc_message.chan1_raw = (_rc.channel_count > 0) ? _rc.values[0] : UINT16_MAX;
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rc_message.chan2_raw = (_rc.channel_count > 1) ? _rc.values[1] : UINT16_MAX;
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rc_message.chan3_raw = (_rc.channel_count > 2) ? _rc.values[2] : UINT16_MAX;
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rc_message.chan4_raw = (_rc.channel_count > 3) ? _rc.values[3] : UINT16_MAX;
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rc_message.chan5_raw = (_rc.channel_count > 4) ? _rc.values[4] : UINT16_MAX;
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rc_message.chan6_raw = (_rc.channel_count > 5) ? _rc.values[5] : UINT16_MAX;
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rc_message.chan7_raw = (_rc.channel_count > 6) ? _rc.values[6] : UINT16_MAX;
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rc_message.chan8_raw = (_rc.channel_count > 7) ? _rc.values[7] : UINT16_MAX;
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rc_message.chan9_raw = (_rc.channel_count > 8) ? _rc.values[8] : UINT16_MAX;
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rc_message.chan10_raw = (_rc.channel_count > 9) ? _rc.values[9] : UINT16_MAX;
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rc_message.chan11_raw = (_rc.channel_count > 10) ? _rc.values[10] : UINT16_MAX;
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rc_message.chan12_raw = (_rc.channel_count > 11) ? _rc.values[11] : UINT16_MAX;
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rc_message.chan13_raw = (_rc.channel_count > 12) ? _rc.values[12] : UINT16_MAX;
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rc_message.chan14_raw = (_rc.channel_count > 13) ? _rc.values[13] : UINT16_MAX;
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rc_message.chan15_raw = (_rc.channel_count > 14) ? _rc.values[14] : UINT16_MAX;
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rc_message.chan16_raw = (_rc.channel_count > 15) ? _rc.values[15] : UINT16_MAX;
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rc_message.chan17_raw = (_rc.channel_count > 16) ? _rc.values[16] : UINT16_MAX;
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rc_message.chan18_raw = (_rc.channel_count > 17) ? _rc.values[17] : UINT16_MAX;
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rc_message.rssi = _rc.rssi;
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const uint8_t msgid = MAVLINK_MSG_ID_RC_CHANNELS;
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uint8_t component_ID = 0;
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uint8_t payload_len = mavlink_message_lengths[msgid];
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unsigned packet_len = payload_len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
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uint8_t buf[MAVLINK_MAX_PACKET_LEN];
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/* header */
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buf[0] = MAVLINK_STX;
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buf[1] = payload_len;
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/* no idea which numbers should be here*/
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buf[2] = 100;
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buf[3] = 0;
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buf[4] = component_ID;
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buf[5] = msgid;
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/* payload */
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memcpy(&buf[MAVLINK_NUM_HEADER_BYTES], (const void *)&rc_message, payload_len);
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/* checksum */
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uint16_t checksum;
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crc_init(&checksum);
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crc_accumulate_buffer(&checksum, (const char *) &buf[1], MAVLINK_CORE_HEADER_LEN + payload_len);
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crc_accumulate(mavlink_message_crcs[msgid], &checksum);
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buf[MAVLINK_NUM_HEADER_BYTES + payload_len] = (uint8_t)(checksum & 0xFF);
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buf[MAVLINK_NUM_HEADER_BYTES + payload_len + 1] = (uint8_t)(checksum >> 8);
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int len = ::write(_uart_fd, &buf[0], packet_len);
|
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if (len < 1) {
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PX4_WARN("failed sending rc mavlink message");
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}
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}
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|
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int initialise_uart()
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{
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// open uart
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_uart_fd = px4_open(_device, O_RDWR | O_NOCTTY);
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int termios_state = -1;
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|
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if (_uart_fd < 0) {
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PX4_WARN("failed to open uart device!");
|
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return -1;
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}
|
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|
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// set baud rate
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int speed = B115200;
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struct termios uart_config;
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tcgetattr(_uart_fd, &uart_config);
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// clear ONLCR flag (which appends a CR for every LF)
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uart_config.c_oflag &= ~ONLCR;
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|
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/* Set baud rate */
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if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
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warnx("ERR SET BAUD %s: %d\n", _device, termios_state);
|
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::close(_uart_fd);
|
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return -1;
|
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}
|
||||
|
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if ((termios_state = tcsetattr(_uart_fd, TCSANOW, &uart_config)) < 0) {
|
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PX4_WARN("ERR SET CONF %s\n", _device);
|
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px4_close(_uart_fd);
|
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return -1;
|
||||
}
|
||||
|
||||
(void)tcgetattr(_uart_fd, &uart_config);
|
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#ifdef CRTS_IFLOW
|
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uart_config.c_cflag |= CRTS_IFLOW;
|
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#else
|
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uart_config.c_cflag |= CRTSCTS;
|
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#endif
|
||||
(void)tcsetattr(_uart_fd, TCSANOW, &uart_config);
|
||||
|
||||
/* setup output flow control */
|
||||
if (enable_flow_control(true)) {
|
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PX4_WARN("hardware flow control not supported");
|
||||
}
|
||||
|
||||
return _uart_fd;
|
||||
}
|
||||
|
||||
int enable_flow_control(bool enabled)
|
||||
{
|
||||
struct termios uart_config;
|
||||
|
||||
int ret = tcgetattr(_uart_fd, &uart_config);
|
||||
|
||||
if (enabled) {
|
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uart_config.c_cflag |= CRTSCTS;
|
||||
|
||||
} else {
|
||||
uart_config.c_cflag &= ~CRTSCTS;
|
||||
}
|
||||
|
||||
ret = tcsetattr(_uart_fd, TCSANOW, &uart_config);
|
||||
|
||||
if (!ret) {
|
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_flow_control_enabled = enabled;
|
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}
|
||||
|
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return ret;
|
||||
}
|
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|
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// uart_esc main entrance
|
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void task_main_trampoline(int argc, char *argv[])
|
||||
{
|
||||
PX4_WARN("task_main_trampoline");
|
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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) {
|
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warn("task start failed");
|
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return;
|
||||
}
|
||||
|
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_is_running = true;
|
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}
|
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|
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void stop()
|
||||
{
|
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// TODO - set thread exit signal to terminate the task main thread
|
||||
|
||||
_is_running = false;
|
||||
_task_handle = -1;
|
||||
}
|
||||
|
||||
void usage()
|
||||
{
|
||||
PX4_WARN("missing command: try 'start', 'stop', 'status'");
|
||||
PX4_WARN("options:");
|
||||
PX4_WARN(" -d device");
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
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extern "C" __EXPORT int snapdragon_rc_pwm_main(int argc, char *argv[]);
|
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|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
// 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));
|
||||
|
||||
const char *verb = argv[myoptind];
|
||||
|
||||
/*
|
||||
* Start/load the driver.
|
||||
*/
|
||||
if (!strcmp(verb, "start")) {
|
||||
if (snapdragon_rc_pwm::_is_running) {
|
||||
PX4_WARN("uart_esc 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;
|
||||
}
|
||||
@ -52,6 +52,8 @@
|
||||
#include <systemlib/param/param.h>
|
||||
#include <dev_fs_lib_serial.h>
|
||||
#include <v1.0/checksum.h>
|
||||
#include <v1.0/mavlink_types.h>
|
||||
#include <v1.0/common/mavlink.h>
|
||||
|
||||
#define MAX_LEN_DEV_PATH 32
|
||||
#define RC_MAGIC 0xf6
|
||||
@ -60,6 +62,9 @@ namespace uart_esc
|
||||
{
|
||||
#define UART_ESC_MAX_MOTORS 4
|
||||
|
||||
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 uart_esc task should exit
|
||||
static char _device[MAX_LEN_DEV_PATH];
|
||||
static bool _is_running = false; // flag indicating if uart_esc app is running
|
||||
@ -78,7 +83,7 @@ static const char *MIXER_FILENAME = "/dev/fs/quad_x.main.mix";
|
||||
|
||||
// publications
|
||||
orb_advert_t _outputs_pub;
|
||||
orb_advert_t _rc_pub;
|
||||
orb_advert_t _rc_pub = nullptr;
|
||||
|
||||
// topic structures
|
||||
actuator_controls_s _controls;
|
||||
@ -96,6 +101,12 @@ void start(const char *device);
|
||||
/** uart_esc stop */
|
||||
void stop();
|
||||
|
||||
void send_controls_mavlink();
|
||||
|
||||
void serial_callback(void *context, char *buffer, size_t num_bytes);
|
||||
|
||||
void handle_message(mavlink_message_t *rc_message);
|
||||
|
||||
/** task main trampoline function */
|
||||
void task_main_trampoline(int argc, char *argv[]);
|
||||
|
||||
@ -276,21 +287,17 @@ int uart_initialize(const char *device, int baud)
|
||||
return -1;
|
||||
}
|
||||
|
||||
struct dspal_serial_open_options options;
|
||||
struct dspal_serial_ioctl_data_rate rate;
|
||||
|
||||
options.bit_rate = DSPAL_SIO_BITRATE_57600;
|
||||
rate.bit_rate = DSPAL_SIO_BITRATE_115200;
|
||||
|
||||
options.tx_flow = DSPAL_SIO_FCTL_OFF;
|
||||
int ret = ioctl(fd, SERIAL_IOCTL_SET_DATA_RATE, (void *)&rate);
|
||||
|
||||
options.rx_flow = DSPAL_SIO_FCTL_OFF;
|
||||
struct dspal_serial_ioctl_receive_data_callback callback;
|
||||
|
||||
options.rx_data_callback = nullptr;
|
||||
callback.rx_data_callback_func_ptr = serial_callback;
|
||||
|
||||
options.tx_data_callback = nullptr;
|
||||
|
||||
options.is_tx_data_synchronous = false;
|
||||
|
||||
int ret = ::ioctl(fd, SERIAL_IOCTL_OPEN_OPTIONS, (void *)&options);
|
||||
ret = ioctl(fd, SERIAL_IOCTL_SET_RECEIVE_DATA_CALLBACK, (void *)&callback);
|
||||
|
||||
if (ret != 0) {
|
||||
PX4_ERR("Failed to setup UART flow control options");
|
||||
@ -300,18 +307,107 @@ int uart_initialize(const char *device, int baud)
|
||||
return 0;
|
||||
}
|
||||
|
||||
void handleRC(int uart_fd, struct input_rc_s *rc)
|
||||
// send actuator controls message to Pixhawk
|
||||
void send_controls_mavlink()
|
||||
{
|
||||
// read uart until we get the magic number
|
||||
char buf[10];
|
||||
mavlink_actuator_control_target_t controls_message;
|
||||
controls_message.controls[0] = _controls.control[0];
|
||||
controls_message.controls[1] = _controls.control[1];
|
||||
controls_message.controls[2] = _controls.control[2];
|
||||
controls_message.controls[3] = _controls.control[3];
|
||||
controls_message.time_usec = _controls.timestamp;
|
||||
|
||||
while (true) {
|
||||
int ret = ::read(uart_fd, &buf, sizeof(buf));
|
||||
PX4_ERR("got %d", ret);
|
||||
const uint8_t msgid = MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET;
|
||||
uint8_t component_ID = 0;
|
||||
uint8_t payload_len = mavlink_message_lengths[msgid];
|
||||
unsigned packet_len = payload_len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
|
||||
|
||||
if (ret < 1) {
|
||||
break;
|
||||
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 *)&controls_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(_fd, &buf[0], packet_len);
|
||||
|
||||
if (len < 1) {
|
||||
PX4_WARN("failed sending rc mavlink message %.5f", (double)_fd);
|
||||
}
|
||||
}
|
||||
|
||||
// callback function for the uart
|
||||
void serial_callback(void *context, char *buffer, size_t num_bytes)
|
||||
{
|
||||
mavlink_status_t serial_status = {};
|
||||
|
||||
if (num_bytes > 0) {
|
||||
mavlink_message_t msg;
|
||||
|
||||
for (int i = 0; i < num_bytes; ++i) {
|
||||
if (mavlink_parse_char(MAVLINK_COMM_1, buffer[i], &msg, &serial_status)) {
|
||||
// have a message, handle it
|
||||
if (msg.msgid == MAVLINK_MSG_ID_RC_CHANNELS) {
|
||||
// we should publish but would be great if this works
|
||||
handle_message(&msg);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} else {
|
||||
|
||||
PX4_ERR("error: read callback with no data in the buffer");
|
||||
}
|
||||
}
|
||||
|
||||
void handle_message(mavlink_message_t *rc_message)
|
||||
{
|
||||
mavlink_rc_channels_t rc;
|
||||
mavlink_msg_rc_channels_decode(rc_message, &rc);
|
||||
_rc.timestamp_publication = hrt_absolute_time();
|
||||
_rc.timestamp_last_signal = hrt_absolute_time();
|
||||
_rc.channel_count = 8;
|
||||
_rc.rc_lost = false;
|
||||
_rc.values[0] = rc.chan1_raw;
|
||||
_rc.values[1] = rc.chan2_raw;
|
||||
_rc.values[2] = rc.chan3_raw;
|
||||
_rc.values[3] = rc.chan4_raw;
|
||||
_rc.values[4] = rc.chan5_raw;
|
||||
_rc.values[5] = rc.chan6_raw;
|
||||
_rc.values[6] = rc.chan7_raw;
|
||||
_rc.values[7] = rc.chan8_raw;
|
||||
_rc.values[8] = rc.chan9_raw;
|
||||
_rc.values[9] = rc.chan10_raw;
|
||||
_rc.values[10] = rc.chan11_raw;
|
||||
_rc.values[11] = rc.chan12_raw;
|
||||
_rc.values[12] = rc.chan13_raw;
|
||||
_rc.values[13] = rc.chan14_raw;
|
||||
_rc.values[14] = rc.chan15_raw;
|
||||
_rc.values[15] = rc.chan16_raw;
|
||||
_rc.values[16] = rc.chan17_raw;
|
||||
_rc.values[17] = rc.chan18_raw;
|
||||
|
||||
if (_rc_pub != nullptr) {
|
||||
orb_publish(ORB_ID(input_rc), _rc_pub, &_rc);
|
||||
|
||||
} else {
|
||||
_rc_pub = orb_advertise(ORB_ID(input_rc), &_rc);
|
||||
}
|
||||
}
|
||||
|
||||
@ -347,6 +443,8 @@ void task_main(int argc, char *argv[])
|
||||
_task_should_exit = true;
|
||||
}
|
||||
|
||||
_rc_pub = orb_advertise(ORB_ID(input_rc), &_rc);
|
||||
|
||||
// Main loop
|
||||
while (!_task_should_exit) {
|
||||
int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
|
||||
@ -368,89 +466,19 @@ void task_main(int argc, char *argv[])
|
||||
if (fds[0].revents & POLLIN) {
|
||||
// Grab new controls data
|
||||
orb_copy(ORB_ID(actuator_controls_0), _controls_sub, &_controls);
|
||||
// Mix to the outputs
|
||||
_outputs.timestamp = hrt_absolute_time();
|
||||
int16_t motor_rpms[UART_ESC_MAX_MOTORS];
|
||||
|
||||
if (_armed.armed) {
|
||||
_outputs.noutputs = mixer->mix(&_outputs.output[0],
|
||||
actuator_controls_0_s::NUM_ACTUATOR_CONTROLS,
|
||||
NULL);
|
||||
send_controls_mavlink();
|
||||
|
||||
// Make sure we support only up to UART_ESC_MAX_MOTORS motors
|
||||
if (_outputs.noutputs > UART_ESC_MAX_MOTORS) {
|
||||
PX4_ERR("Unsupported motors %d, up to %d motors supported",
|
||||
_outputs.noutputs, UART_ESC_MAX_MOTORS);
|
||||
continue;
|
||||
}
|
||||
// this is needed otherwise the uart internal states will flood. Probably
|
||||
// we need to make update rate faster
|
||||
usleep(5000);
|
||||
|
||||
// iterate actuators
|
||||
for (unsigned i = 0; i < _outputs.noutputs; i++) {
|
||||
// last resort: catch NaN, INF and out-of-band errors
|
||||
if (i < _outputs.noutputs &&
|
||||
PX4_ISFINITE(_outputs.output[i]) &&
|
||||
_outputs.output[i] >= -1.0f &&
|
||||
_outputs.output[i] <= 1.0f) {
|
||||
// scale for PWM output 1000 - 2000us
|
||||
_outputs.output[i] = 1500 + (500 * _outputs.output[i]);
|
||||
|
||||
} else {
|
||||
//
|
||||
// Value is NaN, INF or out of band - set to the minimum value.
|
||||
// This will be clearly visible on the servo status and will limit the risk of accidentally
|
||||
// spinning motors. It would be deadly in flight.
|
||||
//
|
||||
_outputs.output[i] = 900;
|
||||
}
|
||||
}
|
||||
|
||||
uart_esc_rotate_motors(motor_rpms, _outputs.noutputs);
|
||||
|
||||
} else {
|
||||
_outputs.noutputs = UART_ESC_MAX_MOTORS;
|
||||
|
||||
for (unsigned outIdx = 0; outIdx < _outputs.noutputs; outIdx++) {
|
||||
_outputs.output[outIdx] = 900;
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t data[11];
|
||||
struct PACKED {
|
||||
uint8_t magic = 0xF7;
|
||||
uint16_t period[4];
|
||||
uint16_t crc;
|
||||
} frame;
|
||||
|
||||
for (uint8_t i = 0; i < 4; i++) {
|
||||
frame.period[i] = _outputs.output[i];
|
||||
}
|
||||
|
||||
frame.crc = crc_calculate((uint8_t *)frame.period, 4 * 2);
|
||||
|
||||
data[0] = frame.magic;
|
||||
memcpy(&data[1], (uint8_t *)frame.period, sizeof(frame.period));
|
||||
memcpy(&data[9], (uint8_t *)&frame.crc, sizeof(frame.crc));
|
||||
|
||||
::write(_fd, data, sizeof(data));
|
||||
|
||||
/*
|
||||
static int count=0;
|
||||
count++;
|
||||
if (!(count % 1)) {
|
||||
PX4_DEBUG(" ");
|
||||
PX4_DEBUG("Time t: %13lu, Armed: %d ",(unsigned long)_outputs.timestamp,_armed.armed);
|
||||
PX4_DEBUG("Act Controls: 0: %+8.4f, 1: %+8.4f, 2: %+8.4f, 3: %+8.4f ",_controls.control[0],_controls.control[1],_controls.control[2],_controls.control[3]);
|
||||
PX4_DEBUG("Act Outputs : 0: %+8.4f, 1: %+8.4f, 2: %+8.4f, 3: %+8.4f ",_outputs.output[0],_outputs.output[1],_outputs.output[2],_outputs.output[3]);
|
||||
}
|
||||
*/
|
||||
|
||||
/* Publish mixed control outputs */
|
||||
if (_outputs_pub != nullptr) {
|
||||
/*if (_outputs_pub != nullptr) {
|
||||
orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &_outputs);
|
||||
|
||||
} else {
|
||||
_outputs_pub = orb_advertise(ORB_ID(actuator_outputs), &_outputs);
|
||||
}
|
||||
}*/
|
||||
}
|
||||
|
||||
// Check for updates in other subscripions
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user