mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-31 17:51:37 +08:00
added snapdragon rc pwm driver
This commit is contained in:
tumbili
@@ -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
|
||||
# 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
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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
|
||||
# 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
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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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@@ -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
|
||||
* 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.
|
||||
* 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.
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||||
*
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* 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
|
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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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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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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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// 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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/* 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;
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}
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(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
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(void)tcsetattr(_uart_fd, TCSANOW, &uart_config);
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/* setup output flow control */
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if (enable_flow_control(true)) {
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PX4_WARN("hardware flow control not supported");
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}
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return _uart_fd;
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}
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int enable_flow_control(bool enabled)
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{
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struct termios uart_config;
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int ret = tcgetattr(_uart_fd, &uart_config);
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if (enabled) {
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uart_config.c_cflag |= CRTSCTS;
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} else {
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uart_config.c_cflag &= ~CRTSCTS;
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}
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ret = tcsetattr(_uart_fd, TCSANOW, &uart_config);
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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[])
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{
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PX4_WARN("task_main_trampoline");
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task_main(argc, argv);
|
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}
|
||||
|
||||
void start()
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||||
{
|
||||
ASSERT(_task_handle == -1);
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/* start the task */
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||||
_task_handle = px4_task_spawn_cmd("snapdragon_rc_pwm_main",
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||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX,
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2000,
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||||
(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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}
|
||||
|
||||
void stop()
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{
|
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// TODO - set thread exit signal to terminate the task main thread
|
||||
|
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_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;
|
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const char *myoptarg = NULL;
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||||
|
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while ((ch = px4_getopt(argc, argv, "d:", &myoptind, &myoptarg)) != EOF) {
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switch (ch) {
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case 'd':
|
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device = myoptarg;
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break;
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||||
|
||||
default:
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snapdragon_rc_pwm::usage();
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||||
return 1;
|
||||
}
|
||||
}
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||||
// 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;
|
||||
}
|
||||
Reference in New Issue
Block a user