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boards: simplify RC port configuration by using NuttX ioctl's

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A board only needs to define:
 #define RC_SERIAL_PORT                     "/dev/ttyS4"

Then it can optionally define one or more of the following:
 #define RC_SERIAL_SWAP_RXTX
 #define RC_SERIAL_SINGLEWIRE
 #define RC_INVERT_INPUT(_invert_true) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true)
This commit is contained in:
Beat Küng
2019-07-16 08:09:22 +02:00
parent 9a1ad97c11
commit b7a0e1ef03
18 changed files with 149 additions and 317 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/boards/common/board_common.h
+58 -57
View File
@@ -46,6 +46,7 @@
#include <errno.h>
#include <stdint.h>
#include <stdbool.h>
#include <string.h>
/************************************************************************************
* Definitions
************************************************************************************/
@@ -453,32 +454,78 @@ typedef uint8_t px4_guid_t[PX4_GUID_BYTE_LENGTH];
************************************************************************************/
__BEGIN_DECLS
/* Provide an interface for determining if a board supports single wire */
/************************************************************************************
* Name: board_supports_single_wire
* Name: board_rc_singlewire
*
* Description:
* A board may provide serial ports that supports single wire.
* This interface will call into the board support code to determine
* if the interface is available at runtime, on this version of the
* hardware.
* A board may define RC_SERIAL_SINGLEWIRE, so that RC_SERIAL_PORT is configured
* as singlewire UART.
*
* Input Parameters:
* uxart_base - the base address of the UxART.
* device: serial device, e.g. "/dev/ttyS0"
*
* Returned Value:
* true the hardware supports this interface.
* true singlewire should be enabled.
* false if not.
*
************************************************************************************/
#if !defined(BOARD_HAS_SINGLE_WIRE)
# define board_supports_single_wire(_uxart_base) false
#if defined(RC_SERIAL_SINGLEWIRE)
static inline bool board_rc_singlewire(const char *device) { return strcmp(device, RC_SERIAL_PORT) == 0; }
#else
__EXPORT bool board_supports_single_wire(uint32_t uxart_base);
static inline bool board_rc_singlewire(const char *device) { return false; }
#endif
/************************************************************************************
* Name: board_rc_swap_rxtx
*
* Description:
* A board may define RC_SERIAL_SWAP_RXTX, so that RC_SERIAL_PORT is configured
* as UART with RX/TX swapped.
*
* Input Parameters:
* device: serial device, e.g. "/dev/ttyS0"
*
* Returned Value:
* true RX/RX should be swapped.
* false if not.
*
************************************************************************************/
#if defined(RC_SERIAL_SWAP_RXTX)
static inline bool board_rc_swap_rxtx(const char *device) { return strcmp(device, RC_SERIAL_PORT) == 0; }
#else
static inline bool board_rc_swap_rxtx(const char *device) { return false; }
#endif
/************************************************************************************
* Name: board_rc_invert_input
*
* Description:
* All boards may optionally define RC_INVERT_INPUT(bool invert) that is
* used to invert the RC_SERIAL_PORT RC port (e.g. to toggle an external XOR via
* GPIO).
*
* Input Parameters:
* invert_on - A positive logic value, that when true (on) will set the HW in
* inverted NRZ mode where a MARK will be 0 and SPACE will be a 1.
*
* Returned Value:
* true the UART inversion got set.
*
************************************************************************************/
#ifdef RC_INVERT_INPUT
static inline bool board_rc_invert_input(const char *device, bool invert)
{
if (strcmp(device, RC_SERIAL_PORT) == 0) { RC_INVERT_INPUT(invert); return true; }
return false;
}
#else
static inline bool board_rc_invert_input(const char *device, bool invert) { return false; }
#endif
/* Provide an interface for reading the connected state of VBUS */
@@ -504,52 +551,6 @@ __EXPORT bool board_supports_single_wire(uint32_t uxart_base);
int board_read_VBUS_state(void);
#endif
/************************************************************************************
* Name: board_rc_input
*
* Description:
* All boards my optionally provide this API to invert the Serial RC input.
* This is needed on SoCs that support the notion RXINV or TXINV as opposed to
* and external XOR controlled by a GPIO
*
* Input Parameters:
* invert_on - A positive logic value, that when true (on) will set the HW in
* inverted NRZ mode where a MARK will be 0 and SPACE will be a 1.
*
* Returned Value:
* None
*
************************************************************************************/
/* Provide an interface for Inversion of serial data
*
* Case 1:Board does provide UxART based inversion
* Use it, and it will define RC_UXART_BASE
*
* Case 1:Board does provide GPIO inversion
* Use it and let board determine active state
* Define RC_UXART_BASE as empty
*
* Case 3:Board does not provide any inversions
* Default to nop
* Define RC_UXART_BASE as empty
*/
#if defined(RC_UXART_BASE)
__EXPORT void board_rc_input(bool invert_on, uint32_t uxart_base);
# define INVERT_RC_INPUT(_invert_true, _rc_uxart) board_rc_input((_invert_true), (_rc_uxart));
#endif
#if defined(BOARD_INVERT_RC_INPUT)
# define INVERT_RC_INPUT BOARD_INVERT_RC_INPUT
# define RC_UXART_BASE 0
#endif
#if !defined(INVERT_RC_INPUT)
# define INVERT_RC_INPUT(_invert_true, _na) while(0)
# define RC_UXART_BASE 0
#endif
/************************************************************************************
* Name: board_on_reset
*
src/drivers/rc_input/RCInput.cpp
+78 -37
View File
@@ -44,7 +44,7 @@ static bool bind_spektrum(int arg);
work_s RCInput::_work = {};
constexpr char const *RCInput::RC_SCAN_STRING[];
RCInput::RCInput(bool run_as_task) :
RCInput::RCInput(bool run_as_task, char *device) :
_cycle_perf(perf_alloc(PC_ELAPSED, "rc_input cycle time")),
_publish_interval_perf(perf_alloc(PC_INTERVAL, "rc_input publish interval"))
{
@@ -58,6 +58,15 @@ RCInput::RCInput(bool run_as_task) :
for (unsigned i = 0; i < input_rc_s::RC_INPUT_MAX_CHANNELS; i++) {
_raw_rc_values[i] = UINT16_MAX;
}
#ifdef RC_SERIAL_PORT
if (device) {
strncpy(_device, device, sizeof(_device));
_device[sizeof(_device) - 1] = '\0';
}
#endif
}
RCInput::~RCInput()
@@ -87,11 +96,20 @@ RCInput::init()
# endif
// dsm_init sets some file static variables and returns a file descriptor
_rcs_fd = dsm_init(RC_SERIAL_PORT);
_rcs_fd = dsm_init(_device);
if (_rcs_fd < 0) {
return -errno;
}
if (board_rc_swap_rxtx(_device)) {
ioctl(_rcs_fd, TIOCSSWAP, SER_SWAP_ENABLED);
}
// assume SBUS input and immediately switch it to
// so that if Single wire mode on TX there will be only
// a short contention
sbus_config(_rcs_fd, board_supports_single_wire(RC_UXART_BASE));
sbus_config(_rcs_fd, board_rc_singlewire(_device));
# ifdef GPIO_PPM_IN
// disable CPPM input by mapping it away from the timer capture input
px4_arch_unconfiggpio(GPIO_PPM_IN);
@@ -110,13 +128,18 @@ RCInput::task_spawn(int argc, char *argv[])
int myoptind = 1;
int ch;
const char *myoptarg = nullptr;
const char *device = RC_SERIAL_PORT;
while ((ch = px4_getopt(argc, argv, "t", &myoptind, &myoptarg)) != EOF) {
while ((ch = px4_getopt(argc, argv, "td:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 't':
run_as_task = true;
break;
case 'd':
device = myoptarg;
break;
case '?':
error_flag = true;
break;
@@ -136,24 +159,28 @@ RCInput::task_spawn(int argc, char *argv[])
if (!run_as_task) {
/* schedule a cycle to start things */
int ret = work_queue(HPWORK, &_work, (worker_t)&RCInput::cycle_trampoline, nullptr, 0);
int ret = work_queue(HPWORK, &_work, (worker_t)&RCInput::cycle_trampoline_init, (void *)device, 0);
if (ret < 0) {
return ret;
}
// we need to wait, otherwise 'device' could go out of scope while still being accessed
wait_until_running();
_task_id = task_id_is_work_queue;
} else {
/* start the IO interface task */
const char *const args[] = { device, nullptr };
_task_id = px4_task_spawn_cmd("rc_input",
SCHED_DEFAULT,
SCHED_PRIORITY_SLOW_DRIVER,
1000,
(px4_main_t)&run_trampoline,
nullptr);
(char *const *)args);
if (_task_id < 0) {
_task_id = -1;
@@ -164,29 +191,32 @@ RCInput::task_spawn(int argc, char *argv[])
return PX4_OK;
}
void
RCInput::cycle_trampoline_init(void *arg)
{
RCInput *dev = new RCInput(false, (char *)arg);
if (!dev) {
PX4_ERR("alloc failed");
return;
}
int ret = dev->init();
if (ret != 0) {
PX4_ERR("init failed (%i)", ret);
delete dev;
return;
}
_object.store(dev);
dev->cycle();
}
void
RCInput::cycle_trampoline(void *arg)
{
RCInput *dev = reinterpret_cast<RCInput *>(arg);
// check if the trampoline is called for the first time
if (!dev) {
dev = new RCInput(false);
if (!dev) {
PX4_ERR("alloc failed");
return;
}
if (dev->init() != 0) {
PX4_ERR("init failed");
delete dev;
return;
}
_object.store(dev);
}
dev->cycle();
}
@@ -263,17 +293,23 @@ void RCInput::set_rc_scan_state(RC_SCAN newState)
_rc_scan_state = newState;
}
void RCInput::rc_io_invert(bool invert, uint32_t uxart_base)
void RCInput::rc_io_invert(bool invert)
{
INVERT_RC_INPUT(invert, uxart_base);
// First check if the board provides a board-specific inversion method (e.g. via GPIO),
// and if not use an IOCTL
if (!board_rc_invert_input(_device, invert)) {
ioctl(_rcs_fd, TIOCSINVERT, invert ? (SER_INVERT_ENABLED_RX | SER_INVERT_ENABLED_TX) : 0);
}
}
#endif
void
RCInput::run()
{
if (init() != 0) {
PX4_ERR("init failed");
int ret = init();
if (ret != 0) {
PX4_ERR("init failed (%i)", ret);
exit_and_cleanup();
return;
}
@@ -386,8 +422,8 @@ RCInput::cycle()
if (_rc_scan_begin == 0) {
_rc_scan_begin = cycle_timestamp;
// Configure serial port for SBUS
sbus_config(_rcs_fd, board_supports_single_wire(RC_UXART_BASE));
rc_io_invert(true, RC_UXART_BASE);
sbus_config(_rcs_fd, board_rc_singlewire(_device));
rc_io_invert(true);
} else if (_rc_scan_locked
|| cycle_timestamp - _rc_scan_begin < rc_scan_max) {
@@ -418,7 +454,7 @@ RCInput::cycle()
_rc_scan_begin = cycle_timestamp;
// // Configure serial port for DSM
dsm_config(_rcs_fd);
rc_io_invert(false, RC_UXART_BASE);
rc_io_invert(false);
} else if (_rc_scan_locked
|| cycle_timestamp - _rc_scan_begin < rc_scan_max) {
@@ -451,7 +487,7 @@ RCInput::cycle()
_rc_scan_begin = cycle_timestamp;
// Configure serial port for DSM
dsm_config(_rcs_fd);
rc_io_invert(false, RC_UXART_BASE);
rc_io_invert(false);
} else if (_rc_scan_locked
|| cycle_timestamp - _rc_scan_begin < rc_scan_max) {
@@ -499,7 +535,7 @@ RCInput::cycle()
_rc_scan_begin = cycle_timestamp;
// Configure serial port for DSM
dsm_config(_rcs_fd);
rc_io_invert(false, RC_UXART_BASE);
rc_io_invert(false);
} else if (_rc_scan_locked
|| cycle_timestamp - _rc_scan_begin < rc_scan_max) {
@@ -541,7 +577,8 @@ RCInput::cycle()
_rc_scan_begin = cycle_timestamp;
// Configure timer input pin for CPPM
px4_arch_configgpio(GPIO_PPM_IN);
rc_io_invert(false, RC_UXART_BASE);
rc_io_invert(false);
ioctl(_rcs_fd, TIOCSINVERT, 0);
} else if (_rc_scan_locked || cycle_timestamp - _rc_scan_begin < rc_scan_max) {
@@ -575,7 +612,7 @@ RCInput::cycle()
_rc_scan_begin = cycle_timestamp;
// Configure serial port for CRSF
crsf_config(_rcs_fd);
rc_io_invert(false, RC_UXART_BASE);
rc_io_invert(false);
} else if (_rc_scan_locked
|| cycle_timestamp - _rc_scan_begin < rc_scan_max) {
@@ -707,7 +744,7 @@ bool bind_spektrum(int arg)
RCInput *RCInput::instantiate(int argc, char *argv[])
{
// No arguments to parse. We also know that we should run as task
return new RCInput(true);
return new RCInput(true, argv[0]);
}
int RCInput::custom_command(int argc, char *argv[])
@@ -760,6 +797,7 @@ When running on the work queue, it schedules at a fixed frequency.
PRINT_MODULE_USAGE_NAME("rc_input", "driver");
PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the task (without any mode set, use any of the mode_* cmds)");
PRINT_MODULE_USAGE_PARAM_FLAG('t', "Run as separate task instead of the work queue", true);
PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "RC device", true);
#if defined(SPEKTRUM_POWER)
PRINT_MODULE_USAGE_COMMAND_DESCR("bind", "Send a DSM bind command (module must be running)");
@@ -777,6 +815,9 @@ int RCInput::print_status()
if (!_run_as_task) {
PX4_INFO("Max update rate: %i Hz", 1000000 / _current_update_interval);
}
if (_device[0] != '\0') {
PX4_INFO("Serial device: %s", _device);
}
PX4_INFO("RC scan state: %s, locked: %s", RC_SCAN_STRING[_rc_scan_state], _rc_scan_locked ? "yes" : "no");
PX4_INFO("CRSF Telemetry: %s", _crsf_telemetry ? "yes" : "no");
src/drivers/rc_input/RCInput.hpp
+4 -2
View File
@@ -63,7 +63,7 @@ class RCInput : public ModuleBase<RCInput>
{
public:
RCInput(bool run_as_task);
RCInput(bool run_as_task, char *device);
virtual ~RCInput();
/** @see ModuleBase */
@@ -132,6 +132,7 @@ private:
orb_advert_t _to_input_rc{nullptr};
int _rcs_fd{-1};
char _device[20] {}; ///< device / serial port path
uint8_t _rcs_buf[SBUS_BUFFER_SIZE] {};
@@ -144,6 +145,7 @@ private:
perf_counter_t _publish_interval_perf;
static void cycle_trampoline(void *arg);
static void cycle_trampoline_init(void *arg);
int start();
void fill_rc_in(uint16_t raw_rc_count_local,
@@ -153,6 +155,6 @@ private:
void set_rc_scan_state(RC_SCAN _rc_scan_state);
void rc_io_invert(bool invert, uint32_t uxart_base);
void rc_io_invert(bool invert);
};