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uart_esc: made sending motor commands to pixhawk work

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- experimented with reading rc data from uart but this fails
- mixer loading works
This commit is contained in:
tumbili
2016-03-10 16:41:48 +01:00
parent 3867e7709d
commit e80fb86b42
1 changed files with 24 additions and 3 deletions
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src/drivers/uart_esc/uart_esc.cpp
+24 -3
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@@ -43,6 +43,7 @@
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/input_rc.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
@@ -53,6 +54,7 @@
#include <v1.0/checksum.h>
#define MAX_LEN_DEV_PATH 32
#define RC_MAGIC 0xf6
namespace uart_esc
{
@@ -71,17 +73,19 @@ int _param_sub;
int _fd;
// filenames
// /dev/fs/ is mapped to /usr/share/data/adsp/
static const char *MIXER_FILENAME = "/dev/fs/mixer_config.mix";
static const char *MIXER_FILENAME = "/dev/fs/quad_x.main.mix";
// publications
orb_advert_t _outputs_pub;
orb_advert_t _rc_pub;
// topic structures
actuator_controls_s _controls;
actuator_armed_s _armed;
parameter_update_s _param_update;
actuator_outputs_s _outputs;
input_rc_s _rc;
/** Print out the usage information */
void usage();
@@ -193,7 +197,7 @@ int initialize_mixer(const char *mixer_filename)
PX4_INFO("Initializing mixer from config file in %s", mixer_filename);
int fd_load = open(mixer_filename, O_RDONLY);
int fd_load = ::open(mixer_filename, O_RDONLY);
if (fd_load != -1) {
int nRead = read(fd_load, buf, buflen);
@@ -268,6 +272,7 @@ int uart_initialize(const char *device, int baud)
int fd = ::open(device, O_RDWR | O_NONBLOCK);
if (fd == -1) {
PX4_ERR("failed in open");
return -1;
}
@@ -295,6 +300,19 @@ int uart_initialize(const char *device, int baud)
return 0;
}
void handleRC(int uart_fd, struct input_rc_s *rc)
{
// read uart until we get the magic number
char buf[10];
while(true) {
int ret = ::read(uart_fd, &buf, sizeof(buf));
PX4_ERR("got %d", ret);
if (ret < 1) {
break;
}
}
}
void task_main(int argc, char *argv[])
{
PX4_INFO("enter task_main");
@@ -410,7 +428,10 @@ void task_main(int argc, char *argv[])
data[0] = frame.magic;
memcpy(&data[1], (uint8_t *)frame.period, sizeof(frame.period));
memcpy(&data[9], (uint8_t *)&frame.crc, sizeof(frame.crc));
uint8_t num_sent = ::write(_fd, data, sizeof(data));
handleRC(_fd, &_rc);
::write(_fd, data, sizeof(data));
/*
static int count=0;
count++;