fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-22 05:47:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Add initial structure for Snapdragon Spektrum input

Browse Source
This commit is contained in:
Lorenz Meier
2016-12-03 13:03:02 +01:00
committed by Lorenz Meier
parent 4d17467590
commit c14f1fbaec
2 changed files with 281 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/platforms/posix/drivers/df_spektrum_rc/CMakeLists.txt
+45
View File
@@ -0,0 +1,45 @@
############################################################################
#
# 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_directories(../../../../lib/DriverFramework/drivers)
px4_add_module(
MODULE platforms__posix__drivers__df_spektrum_rc
MAIN df_spektrum_rc
SRCS
df_spektrum_rc.cpp
DEPENDS
platforms__common
df_driver_framework
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
src/platforms/posix/drivers/df_spektrum_rc/df_spektrum_rc.cpp
+236
View File
@@ -0,0 +1,236 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
/**
* @file df_spektrum_rc.cpp
*
* This is a wrapper around the Parrot Bebop bus driver of the DriverFramework. It sends the
* motor and contol commands to the Bebop and reads its status and informations.
*/
#include <stdint.h>
#include <px4_tasks.h>
#include <px4_getopt.h>
#include <px4_posix.h>
#include <errno.h>
#include <string.h>
#include <DevMgr.hpp>
#include <lib/rc/dsm.h>
#include <drivers/drv_rc_input.h>
#define SPEKTRUM_UART_DEVICE_PATH /dev/serialABC
extern "C" { __EXPORT int df_spektrum_rc_main(int argc, char *argv[]); }
namespace df_spektrum_rc
{
volatile bool _task_should_exit = false; // flag indicating if bebop esc control task should exit
static bool _is_running = false; // flag indicating if bebop esc app is running
static px4_task_t _task_handle = -1; // handle to the task main thread
int start();
int stop();
int info();
void usage();
void task_main(int argc, char *argv[]);
void task_main(int argc, char *argv[])
{
// publications
orb_advert_t rc_pub = nullptr;
int rc_orb_class_instance = -1;
uint8_t _rcs_buf[50];
// important to keep these buffers out of the stack
// as they might need to be accumulated over multiple
// iterations of the inner loop
uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS];
uint16_t raw_rc_count;
unsigned frame_drops;
bool dsm_11_bit;
int uart_fd = dsm_init(SPEKTRUM_UART_DEVICE_PATH);
_is_running = true;
// Set up poll topic
px4_pollfd_struct_t fds[1];
fds[0].fd = uart_fd;
fds[0].events = POLLIN;
// Main loop
while (!_task_should_exit) {
int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 10);
/* Timed out, do a periodic check for _task_should_exit. */
if (pret == 0) {
continue;
}
/* This is undesirable but not much we can do. */
if (pret < 0) {
PX4_WARN("poll error %d, %d", pret, errno);
/* sleep a bit before next try */
usleep(100000);
continue;
}
if (fds[0].revents & POLLIN) {
int newbytes = ::read(uart_fd, &_rcs_buf[0], SBUS_BUFFER_SIZE);
if (newbytes > 0) {
// parse new data
rc_updated = dsm_parse(_cycle_timestamp, &_rcs_buf[0], newbytes, &raw_rc_values[0], &raw_rc_count,
&dsm_11_bit, &frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS);
if (rc_updated) {
// we have a new DSM frame. Publish it.
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_DSM;
fill_rc_in(raw_rc_count, raw_rc_values, _cycle_timestamp,
false, false, frame_drops);
if (rc_pub == nullptr) {
rc_pub = orb_advertise(ORB_ID(input_rc), &_rc_in);
} else {
orb_publish(ORB_ID(input_rc), rc_pub, &_rc_in);
}
}
}
}
}
orb_deadvertise(_rc_pub);
_is_running = false;
}
int start()
{
// Start the task to handle RC
ASSERT(_task_handle == -1);
/* start the task */
_task_handle = px4_task_spawn_cmd("spektrum_rc_main",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
2000,
(px4_main_t)&task_main,
nullptr);
if (_task_handle < 0) {
warn("task start failed");
return -1;
}
_is_running = true;
return 0;
}
int stop()
{
// Stop bebop motor control task
_task_should_exit = true;
while (_is_running) {
usleep(200000);
PX4_INFO(".");
}
_task_handle = -1;
return 0;
}
/**
* Print a little info about the driver.
*/
int
info()
{
PX4_INFO("info");
return 0;
}
void
usage()
{
PX4_INFO("Usage: df_spektrum_rc 'start', 'info', 'stop'");
}
} /* df_spektrum_rc */
int
df_spektrum_rc_main(int argc, char *argv[])
{
int ret = 0;
int myoptind = 1;
if (argc <= 1) {
df_spektrum_rc::usage();
return 1;
}
const char *verb = argv[myoptind];
if (!strcmp(verb, "start")) {
ret = df_spektrum_rc::start();
}
else if (!strcmp(verb, "stop")) {
ret = df_spektrum_rc::stop();
}
else if (!strcmp(verb, "info")) {
ret = df_spektrum_rc::info();
}
else {
df_spektrum_rc::usage();
return 1;
}
return ret;
}