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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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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
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crossa
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/****************************************************************************
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*
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* Copyright (C) 2015 Mark Charl. All rights reserved.
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* Copyright (C) 2017 Fan.zhang. All rights reserved. 421395590@qq.com
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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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#include "rpi_rc_in.h"
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using namespace rpi_rc_in;
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//---------------------------------------------------------------------------------------------------------//
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int RcInput::rpi_rc_init() {
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int i;
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//--------------初始化共享内存映射----------------------------//
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if ((this->shmid = shmget(this->key, sizeof(int) * this->_channels, 0666))
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< 0) {
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PX4_WARN("无法访问共享内存");
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return -1;
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}
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if ((this->mem = (int*) shmat(this->shmid, NULL, 0)) == (void *) -1) {
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PX4_WARN("无法映射共享内存");
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return -1;
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}
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//--------------发布所有通道的数据------------------------//
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for (i = 0; i < input_rc_s::RC_INPUT_MAX_CHANNELS; ++i) {
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_data.values[i] = UINT16_MAX;
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}
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_rcinput_pub = orb_advertise(ORB_ID(input_rc), &_data);
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if (_rcinput_pub == nullptr) {
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PX4_WARN("error: advertise failed");
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return -1;
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}
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return 0;
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}
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//---------------------------------------------------------------------------------------------------------//
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int RcInput::start() {
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int result = 0;
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result = rpi_rc_init();
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if (result != 0) {
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PX4_WARN("error: RC initialization failed");
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return -1;
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}
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_isRunning = true;
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result = work_queue(HPWORK, &_work, (worker_t) & RcInput::cycle_trampoline,
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this, 0);
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if (result == -1) {
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_isRunning = false;
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}
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return result;
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}
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//---------------------------------------------------------------------------------------------------------//
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void RcInput::stop() {
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_shouldExit = true;
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}
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//---------------------------------------------------------------------------------------------------------//
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void RcInput::cycle_trampoline(void *arg) {
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RcInput *dev = reinterpret_cast<RcInput *>(arg);
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dev->_cycle();
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}
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//---------------------------------------------------------------------------------------------------------//
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void RcInput::_cycle() {
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_measure();
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if (!_shouldExit) {
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work_queue(HPWORK, &_work, (worker_t) & RcInput::cycle_trampoline, this,
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USEC2TICK(RCINPUT_MEASURE_INTERVAL_US));
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}
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}
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//---------------------------------------------------------------------------------------------------------//
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void RcInput::_measure(void) {
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uint64_t ts;
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// PWM 数据发布
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int i=0;
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for(i=0;i<_channels;++i){
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_data.values[i] = *(this->mem+i);
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}
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ts = hrt_absolute_time();
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_data.timestamp = ts;
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_data.timestamp_last_signal = ts;
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_data.channel_count = _channels;
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_data.rssi = 100;
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_data.rc_lost_frame_count = 0;
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_data.rc_total_frame_count = 1;
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_data.rc_ppm_frame_length = 100;
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_data.rc_failsafe = false;
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_data.rc_lost = false;
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_data.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_PPM;
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orb_publish(ORB_ID(input_rc), _rcinput_pub, &_data);
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}
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//---------------------------------------------------------------------------------------------------------//
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/**
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* Print the correct usage.
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*/
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static void rpi_rc_in::usage(const char *reason) {
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if (reason) {
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PX4_ERR("%s", reason);
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}
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PX4_INFO("用法: rpi_rc_in {start|stop|status}");
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}
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//---------------------------------------------------------------------------------------------------------//
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int rpi_rc_in_main(int argc, char **argv) {
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if (argc < 2) {
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usage("missing command");
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return 1;
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}
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if (!strcmp(argv[1], "start")) {
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if (rc_input != nullptr && rc_input->isRunning()) {
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PX4_WARN("运行中。");
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/* this is not an error */
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return 0;
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}
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rc_input = new RcInput();
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// Check if alloc worked.
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if (nullptr == rc_input) {
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PX4_ERR("遥控输入模块初始化错误。");
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return -1;
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}
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int ret = rc_input->start();
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if (ret != 0) {
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PX4_ERR("遥控输入模块未能启动");
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}
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return 0;
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}
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if (!strcmp(argv[1], "stop")) {
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if (rc_input == nullptr || !rc_input->isRunning()) {
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PX4_WARN("模块未运行");
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/* this is not an error */
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return 0;
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}
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rc_input->stop();
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// Wait for task to die
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int i = 0;
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do {
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/* wait up to 3s */
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usleep(100000);
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} while (rc_input->isRunning() && ++i < 30);
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delete rc_input;
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rc_input = nullptr;
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return 0;
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}
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if (!strcmp(argv[1], "status")) {
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if (rc_input != nullptr && rc_input->isRunning()) {
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PX4_INFO("运行中");
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} else {
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PX4_INFO("未运行\n");
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}
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return 0;
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}
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usage("不知道你要做什么");
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return 1;
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}
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//---------------------------------------------------------------------------------------------------------//
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