From 7b108eb879417e1836c409f507fe9177bebd990b Mon Sep 17 00:00:00 2001 From: crossa <421395590@qq.com> Date: Mon, 20 Feb 2017 12:41:52 +0800 Subject: [PATCH] Reading the pwm signal from shared image. Both 8 channels PPM encoder and 8 channels revicer are required. Before launch px4, ppmdeocde programe should be launched. To download ppmdecode programe, visit https://github.com/crossa/raspberry-pi-px4firmware. Pxfmini and navio are not popular autopilot hardware in china, I can handly to purchase it. So that I use raspberry pi to build autopilot separately. This dirver help us to decode ppm single to pwm and pushlish it --- src/drivers/rpi_rc_in/CMakeLists.txt | 43 ++++++ src/drivers/rpi_rc_in/rpi_rc_in.cpp | 212 +++++++++++++++++++++++++++ src/drivers/rpi_rc_in/rpi_rc_in.h | 101 +++++++++++++ 3 files changed, 356 insertions(+) create mode 100644 src/drivers/rpi_rc_in/CMakeLists.txt create mode 100644 src/drivers/rpi_rc_in/rpi_rc_in.cpp create mode 100644 src/drivers/rpi_rc_in/rpi_rc_in.h diff --git a/src/drivers/rpi_rc_in/CMakeLists.txt b/src/drivers/rpi_rc_in/CMakeLists.txt new file mode 100644 index 0000000000..8ca354f6ab --- /dev/null +++ b/src/drivers/rpi_rc_in/CMakeLists.txt @@ -0,0 +1,43 @@ +############################################################################ +# +# Copyright (c) 2016 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ +px4_add_module( + MODULE drivers__rpi_rc_in + MAIN rpi_rc_in + STACK_MAIN 1200 + COMPILE_FLAGS + SRCS + rpi_rc_in.cpp + DEPENDS + platforms__common + ) +# vim: set noet ft=cmake fenc=utf-8 ff=unix : diff --git a/src/drivers/rpi_rc_in/rpi_rc_in.cpp b/src/drivers/rpi_rc_in/rpi_rc_in.cpp new file mode 100644 index 0000000000..501c9450e8 --- /dev/null +++ b/src/drivers/rpi_rc_in/rpi_rc_in.cpp @@ -0,0 +1,212 @@ +/**************************************************************************** + * + * Copyright (C) 2015 Mark Charl. All rights reserved. + * Copyright (C) 2017 Fan.zhang. All rights reserved. 421395590@qq.com + * Copyright (C) 2016 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +#include "rpi_rc_in.h" + +using namespace rpi_rc_in; +//---------------------------------------------------------------------------------------------------------// +int RcInput::rpi_rc_init() { + int i; + //--------------初始化共享内存映射----------------------------// + if ((this->shmid = shmget(this->key, sizeof(int) * this->_channels, 0666)) + < 0) { + PX4_WARN("无法访问共享内存"); + return -1; + } + + if ((this->mem = (int*) shmat(this->shmid, NULL, 0)) == (void *) -1) { + PX4_WARN("无法映射共享内存"); + return -1; + } + + //--------------发布所有通道的数据------------------------// + for (i = 0; i < input_rc_s::RC_INPUT_MAX_CHANNELS; ++i) { + _data.values[i] = UINT16_MAX; + } + + _rcinput_pub = orb_advertise(ORB_ID(input_rc), &_data); + + if (_rcinput_pub == nullptr) { + PX4_WARN("error: advertise failed"); + return -1; + } + + return 0; +} +//---------------------------------------------------------------------------------------------------------// +int RcInput::start() { + int result = 0; + + result = rpi_rc_init(); + + if (result != 0) { + PX4_WARN("error: RC initialization failed"); + return -1; + } + + _isRunning = true; + result = work_queue(HPWORK, &_work, (worker_t) & RcInput::cycle_trampoline, + this, 0); + + if (result == -1) { + _isRunning = false; + } + + return result; +} +//---------------------------------------------------------------------------------------------------------// +void RcInput::stop() { + _shouldExit = true; +} +//---------------------------------------------------------------------------------------------------------// +void RcInput::cycle_trampoline(void *arg) { + RcInput *dev = reinterpret_cast(arg); + dev->_cycle(); +} +//---------------------------------------------------------------------------------------------------------// +void RcInput::_cycle() { + _measure(); + + if (!_shouldExit) { + work_queue(HPWORK, &_work, (worker_t) & RcInput::cycle_trampoline, this, + USEC2TICK(RCINPUT_MEASURE_INTERVAL_US)); + } +} +//---------------------------------------------------------------------------------------------------------// +void RcInput::_measure(void) { + uint64_t ts; + // PWM 数据发布 + int i=0; + for(i=0;i<_channels;++i){ + _data.values[i] = *(this->mem+i); + } + + ts = hrt_absolute_time(); + _data.timestamp = ts; + _data.timestamp_last_signal = ts; + _data.channel_count = _channels; + _data.rssi = 100; + _data.rc_lost_frame_count = 0; + _data.rc_total_frame_count = 1; + _data.rc_ppm_frame_length = 100; + _data.rc_failsafe = false; + _data.rc_lost = false; + _data.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_PPM; + + orb_publish(ORB_ID(input_rc), _rcinput_pub, &_data); +} +//---------------------------------------------------------------------------------------------------------// +/** + * Print the correct usage. + */ + +static void rpi_rc_in::usage(const char *reason) { + if (reason) { + PX4_ERR("%s", reason); + } + PX4_INFO("用法: rpi_rc_in {start|stop|status}"); +} +//---------------------------------------------------------------------------------------------------------// +int rpi_rc_in_main(int argc, char **argv) { + if (argc < 2) { + usage("missing command"); + return 1; + } + + if (!strcmp(argv[1], "start")) { + + if (rc_input != nullptr && rc_input->isRunning()) { + PX4_WARN("运行中。"); + /* this is not an error */ + return 0; + } + + rc_input = new RcInput(); + + // Check if alloc worked. + if (nullptr == rc_input) { + PX4_ERR("遥控输入模块初始化错误。"); + return -1; + } + + int ret = rc_input->start(); + + if (ret != 0) { + PX4_ERR("遥控输入模块未能启动"); + } + + return 0; + } + + if (!strcmp(argv[1], "stop")) { + + if (rc_input == nullptr || !rc_input->isRunning()) { + PX4_WARN("模块未运行"); + /* this is not an error */ + return 0; + } + + rc_input->stop(); + + // Wait for task to die + int i = 0; + + do { + /* wait up to 3s */ + usleep(100000); + + } while (rc_input->isRunning() && ++i < 30); + + delete rc_input; + rc_input = nullptr; + + return 0; + } + + if (!strcmp(argv[1], "status")) { + if (rc_input != nullptr && rc_input->isRunning()) { + PX4_INFO("运行中"); + + } else { + PX4_INFO("未运行\n"); + } + + return 0; + } + + usage("不知道你要做什么"); + return 1; + +} +//---------------------------------------------------------------------------------------------------------// diff --git a/src/drivers/rpi_rc_in/rpi_rc_in.h b/src/drivers/rpi_rc_in/rpi_rc_in.h new file mode 100644 index 0000000000..5bc5b10daf --- /dev/null +++ b/src/drivers/rpi_rc_in/rpi_rc_in.h @@ -0,0 +1,101 @@ +/**************************************************************************** + * + * Copyright (C) 2015 Mark Charl. All rights reserved. + * Copyright (C) 2017 Fan.zhang. All rights reserved. 421395590@qq.com + * Copyright (C) 2016 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include + +#include +#include +#define RCINPUT_MEASURE_INTERVAL_US 20000 +namespace rpi_rc_in { +class RcInput { +public: + int *mem; + key_t key; + int shmid; + RcInput() : + mem(nullptr),key(4096),shmid(0),_shouldExit(false), _isRunning(false), _work { }, _rcinput_pub( + nullptr), _channels(8),//D8R-II plus + _data { } { + //memset(_ch_fd, 0, sizeof(_ch_fd)); + } + ~RcInput() { + this->mem = nullptr; + work_cancel(HPWORK, &_work); + _isRunning = false; + } + + /* @return 0 on success, -errno on failure */ + int start(); + + /* @return 0 on success, -errno on failure */ + void stop(); + + /* Trampoline for the work queue. */ + static void cycle_trampoline(void *arg); + + bool isRunning() { + return _isRunning; + } + +private: + void _cycle(); + void _measure(); + + bool _shouldExit;bool _isRunning; + struct work_s _work; + orb_advert_t _rcinput_pub; + int _channels; + //int _ch_fd[input_rc_s::RC_INPUT_MAX_CHANNELS]; + struct input_rc_s _data; + + int rpi_rc_init(); +}; + +static void usage(const char *reason); +static RcInput *rc_input = nullptr; +} +extern "C" __EXPORT int rpi_rc_in_main(int argc, char **argv);