mirror of
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drivers/rc: new standalone sbus_rc driver
- extracted from monolithic drivers/rc_input which will eventually be dropped once all drivers migrated and boards updated
This commit is contained in:
Daniel Agar
@@ -0,0 +1,44 @@
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############################################################################
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#
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# Copyright (c) 2015-2024 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
|
||||
# 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
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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__rc__sbus_rc
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MAIN sbus_rc
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COMPILE_FLAGS
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SRCS
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SbusRc.cpp
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SbusRc.hpp
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MODULE_CONFIG
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module.yaml
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DEPENDS
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rc
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)
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@@ -0,0 +1,5 @@
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menuconfig DRIVERS_RC_SBUS_RC
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bool "sbus_rc"
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default n
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---help---
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Enable support for sbus_rc
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@@ -0,0 +1,315 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2024 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
|
||||
* 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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||||
* 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.
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*
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****************************************************************************/
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#include "SbusRc.hpp"
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#include <termios.h>
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SbusRc::SbusRc(const char *device) :
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ModuleParams(nullptr),
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ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(device)),
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_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")),
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_publish_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": publish interval"))
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{
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if (device) {
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strncpy(_device, device, sizeof(_device) - 1);
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_device[sizeof(_device) - 1] = '\0';
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}
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}
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SbusRc::~SbusRc()
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{
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perf_free(_cycle_perf);
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perf_free(_publish_interval_perf);
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}
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int SbusRc::task_spawn(int argc, char *argv[])
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{
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bool error_flag = false;
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int myoptind = 1;
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int ch;
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const char *myoptarg = nullptr;
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const char *device_name = nullptr;
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bool silent = false;
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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_name = myoptarg;
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silent = false;
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break;
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case '?':
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error_flag = true;
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break;
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default:
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PX4_WARN("unrecognized flag");
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error_flag = true;
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break;
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}
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}
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if (error_flag) {
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return -1;
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}
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if (device_name && (access(device_name, R_OK | W_OK) == 0)) {
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SbusRc *instance = new SbusRc(device_name);
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if (instance == nullptr) {
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PX4_ERR("alloc failed");
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return PX4_ERROR;
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}
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_object.store(instance);
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_task_id = task_id_is_work_queue;
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instance->ScheduleOnInterval(_current_update_interval);
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return PX4_OK;
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} else if (silent) {
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return PX4_OK;
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} else {
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if (device_name) {
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PX4_ERR("invalid device (-d) %s", device_name);
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} else {
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PX4_ERR("valid device required");
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}
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}
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return PX4_ERROR;
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}
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void SbusRc::Run()
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{
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if (should_exit()) {
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close(_rcs_fd);
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exit_and_cleanup();
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return;
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}
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perf_begin(_cycle_perf);
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// Check if parameters have changed
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if (_parameter_update_sub.updated()) {
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// clear update
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parameter_update_s param_update;
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_parameter_update_sub.copy(¶m_update);
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updateParams();
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}
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const hrt_abstime cycle_timestamp = hrt_absolute_time();
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bool rc_updated = false;
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constexpr hrt_abstime rc_scan_max = 3_s;
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// read all available data from the serial RC input UART
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uint8_t rcs_buf[SBUS_BUFFER_SIZE] {};
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int newBytes = ::read(_rcs_fd, &rcs_buf[0], SBUS_BUFFER_SIZE);
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if (newBytes > 0) {
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_bytes_rx += newBytes;
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}
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const bool rc_scan_locked = _rc_scan_locked;
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if (_rc_scan_begin == 0) {
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_rc_scan_begin = cycle_timestamp;
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// Configure serial port
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if (_rcs_fd < 0) {
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_rcs_fd = open(_device, O_RDWR | O_NONBLOCK);
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}
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sbus_config(_rcs_fd, board_rc_singlewire(_device));
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// First check if the board provides a board-specific inversion method (e.g. via GPIO),
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// and if not use an IOCTL
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if (!board_rc_invert_input(_device, true)) {
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#if defined(TIOCSINVERT)
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ioctl(_rcs_fd, TIOCSINVERT, SER_INVERT_ENABLED_RX | SER_INVERT_ENABLED_TX);
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#endif // TIOCSINVERT
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}
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// flush serial buffer and any existing buffered data
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tcflush(_rcs_fd, TCIOFLUSH);
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} else if (_rc_scan_locked
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|| cycle_timestamp - _rc_scan_begin < rc_scan_max) {
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if (newBytes > 0) {
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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 = 0;
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bool sbus_failsafe = false;
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bool sbus_frame_drop = false;
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unsigned sbus_frame_drops = 0;
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if (sbus_parse(cycle_timestamp, &rcs_buf[0], newBytes, &raw_rc_values[0], &raw_rc_count,
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&sbus_failsafe, &sbus_frame_drop, &sbus_frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS)
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) {
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// we have a new SBUS frame. Publish it.
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input_rc_s input_rc{};
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input_rc.timestamp_last_signal = cycle_timestamp;
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input_rc.channel_count = math::constrain(raw_rc_count, (uint16_t)0, (uint16_t)input_rc_s::RC_INPUT_MAX_CHANNELS);
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input_rc.rssi = -1;
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input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_SBUS;
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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.channel_count = valid_chans;
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if ((_param_rc_rssi_pwm_chan.get() > 0) && (_param_rc_rssi_pwm_chan.get() < input_rc.channel_count)) {
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const int32_t rssi_pwm_chan = _param_rc_rssi_pwm_chan.get();
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const int32_t rssi_pwm_min = _param_rc_rssi_pwm_min.get();
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const int32_t rssi_pwm_max = _param_rc_rssi_pwm_max.get();
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// get RSSI from input channel
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int rc_rssi = ((input_rc.values[rssi_pwm_chan - 1] - rssi_pwm_min) * 100) / (rssi_pwm_max - rssi_pwm_min);
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input_rc.rssi = math::constrain(rc_rssi, 0, 100);
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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 = sbus_failsafe;
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input_rc.rc_lost = (valid_chans == 0);
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input_rc.rc_lost_frame_count = sbus_frame_drops;
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input_rc.link_quality = -1;
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input_rc.rssi_dbm = NAN;
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input_rc.timestamp = hrt_absolute_time();
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_input_rc_pub.publish(input_rc);
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perf_count(_publish_interval_perf);
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_timestamp_last_signal = cycle_timestamp;
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rc_updated = true;
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if (valid_chans > 0) {
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_rc_scan_locked = true;
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}
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}
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}
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} else {
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_rc_scan_begin = 0;
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_rc_scan_locked = false;
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close(_rcs_fd);
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_rcs_fd = -1;
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}
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if (!rc_updated && (hrt_elapsed_time(&_timestamp_last_signal) > 1_s)) {
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_rc_scan_locked = false;
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}
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if (!rc_scan_locked && _rc_scan_locked) {
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PX4_INFO("RC input locked");
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}
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perf_end(_cycle_perf);
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}
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int SbusRc::custom_command(int argc, char *argv[])
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{
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if (!is_running()) {
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int ret = SbusRc::task_spawn(argc, argv);
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if (ret) {
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return ret;
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}
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}
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return print_usage("unknown command");
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}
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int SbusRc::print_status()
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{
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PX4_INFO("Max update rate: %u Hz", 1000000 / _current_update_interval);
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if (_device[0] != '\0') {
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PX4_INFO("UART device: %s", _device);
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PX4_INFO("UART RX bytes: %" PRIu32, _bytes_rx);
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}
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PX4_INFO("RC state: %s", _rc_scan_locked ? "found" : "searching for signal");
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perf_print_counter(_cycle_perf);
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perf_print_counter(_publish_interval_perf);
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return 0;
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}
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int SbusRc::print_usage(const char *reason)
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{
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if (reason) {
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PX4_WARN("%s\n", reason);
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}
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PRINT_MODULE_DESCRIPTION(
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R"DESCR_STR(
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### Description
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This module does SBUS RC input parsing.
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)DESCR_STR");
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PRINT_MODULE_USAGE_NAME("sbus_rc", "driver");
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PRINT_MODULE_USAGE_COMMAND("start");
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PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "RC device", true);
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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return 0;
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}
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extern "C" __EXPORT int sbus_rc_main(int argc, char *argv[])
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{
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return SbusRc::main(argc, argv);
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}
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@@ -0,0 +1,102 @@
|
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/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2024 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <float.h>
|
||||
|
||||
#include <board_config.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <lib/perf/perf_counter.h>
|
||||
#include <lib/rc/sbus.h>
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/getopt.h>
|
||||
#include <px4_platform_common/log.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
#include <px4_platform_common/module_params.h>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <uORB/PublicationMulti.hpp>
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/SubscriptionInterval.hpp>
|
||||
#include <uORB/topics/input_rc.h>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
|
||||
using namespace time_literals;
|
||||
|
||||
class SbusRc : public ModuleBase<SbusRc>, public ModuleParams, public px4::ScheduledWorkItem
|
||||
{
|
||||
public:
|
||||
|
||||
SbusRc(const char *device);
|
||||
virtual ~SbusRc();
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int task_spawn(int argc, char *argv[]);
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int custom_command(int argc, char *argv[]);
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int print_usage(const char *reason = nullptr);
|
||||
|
||||
/** @see ModuleBase::print_status() */
|
||||
int print_status() override;
|
||||
|
||||
private:
|
||||
|
||||
void Run() override;
|
||||
|
||||
hrt_abstime _rc_scan_begin{0};
|
||||
hrt_abstime _timestamp_last_signal{0};
|
||||
|
||||
bool _rc_scan_locked{false};
|
||||
|
||||
static constexpr unsigned _current_update_interval{4000}; // 250 Hz
|
||||
|
||||
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
|
||||
|
||||
uORB::PublicationMulti<input_rc_s> _input_rc_pub{ORB_ID(input_rc)};
|
||||
|
||||
int _rcs_fd{-1};
|
||||
char _device[20] {}; ///< device / serial port path
|
||||
|
||||
perf_counter_t _cycle_perf;
|
||||
perf_counter_t _publish_interval_perf;
|
||||
uint32_t _bytes_rx{0};
|
||||
|
||||
DEFINE_PARAMETERS(
|
||||
(ParamInt<px4::params::RC_RSSI_PWM_CHAN>) _param_rc_rssi_pwm_chan,
|
||||
(ParamInt<px4::params::RC_RSSI_PWM_MIN>) _param_rc_rssi_pwm_min,
|
||||
(ParamInt<px4::params::RC_RSSI_PWM_MAX>) _param_rc_rssi_pwm_max
|
||||
)
|
||||
};
|
||||
@@ -0,0 +1,11 @@
|
||||
module_name: SBUS RC Input Driver
|
||||
serial_config:
|
||||
- command: "sbus_rc start -d ${SERIAL_DEV}"
|
||||
port_config_param:
|
||||
name: RC_SBUS_PRT_CFG
|
||||
group: Serial
|
||||
#default: RC
|
||||
#depends_on_port: RC
|
||||
description_extended: |
|
||||
SBUS RC driver.
|
||||
|
||||
Reference in New Issue
Block a user