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drivers: remove ocpoc_sbus_rc_in
This commit is contained in:
davidaroyer
committed by
Lorenz Meier
Lorenz Meier
parent
2fab183731
commit
f6693f1f17
@@ -1,43 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2016-2017 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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px4_add_module(
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MODULE drivers__ocpoc_sbus_rc_in
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MAIN ocpoc_sbus_rc_in
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STACK_MAIN 1200
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COMPILE_FLAGS
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SRCS
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ocpoc_sbus_rc_in.cpp
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DEPENDS
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platforms__common
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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@@ -1,306 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2015 Mark Charlebois. All rights reserved.
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* Copyright (C) 2017 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 <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <stdio.h>
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#include <stdint.h>
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#include <px4_config.h>
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#include <px4_workqueue.h>
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#include <px4_defines.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/input_rc.h>
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#include <rc/sbus.h>
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namespace ocpoc_sbus_rc_in
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{
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extern "C" __EXPORT int ocpoc_sbus_rc_in_main(int argc, char *argv[]);
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#define RCINPUT_DEVICE_PATH "/dev/ttyS2"
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#define RCINPUT_MEASURE_INTERVAL_US 6500 // FUBATA T8J is 6.8ms frame rate, microseconds
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#define SBUS_INPUT_CHANNELS 8 // FUBATA T8J is 8-channel
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class RcInput
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{
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public:
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RcInput() :
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_shouldExit(false),
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_isRunning(false),
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_work{},
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_rcinput_pub(nullptr),
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_channels(8), //FUBUTA, 8
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_data{}
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{
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_sbus_fd = -1;
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}
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~RcInput()
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{
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work_cancel(HPWORK, &_work);
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_isRunning = false;
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}
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/* @return 0 on success, -errno on failure */
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int start();
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/* @return 0 on success, -errno on failure */
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void stop();
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/* Trampoline for the work queue. */
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static void cycle_trampoline(void *arg);
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bool isRunning() { return _isRunning; }
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private:
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void _cycle();
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void _measure();
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bool _shouldExit;
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bool _isRunning;
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struct work_s _work;
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orb_advert_t _rcinput_pub;
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int _channels;
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int _sbus_fd = -1;
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struct input_rc_s _data;
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int ocpoc_subs_rc_init();
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};
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int RcInput::ocpoc_subs_rc_init()
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{
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int i;
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/* S.bus input (USART3) */
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_sbus_fd = sbus_init(RCINPUT_DEVICE_PATH, true); //jly
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for (i = _channels; 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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int RcInput::start()
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{
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int result = 0;
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result = ocpoc_subs_rc_init();
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if (result != 0) {
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PX4_WARN("error: RC sbus 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, 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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void RcInput::stop()
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{
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_shouldExit = true;
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}
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void RcInput::cycle_trampoline(void *arg)
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{
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RcInput *dev = reinterpret_cast<RcInput *>(arg);
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dev->_cycle();
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}
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void RcInput::_cycle()
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{
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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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void RcInput::_measure(void)
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{
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uint64_t ts;
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/*
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* Gather R/C control inputs from sbus
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*/
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bool sbus_failsafe, sbus_frame_drop;
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uint16_t values[SBUS_INPUT_CHANNELS * 2];
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uint16_t num_values;
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bool sbus_updated = sbus_input(_sbus_fd, values, &num_values, &sbus_failsafe, &sbus_frame_drop,
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_channels);
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if (sbus_updated) {
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if (num_values > 8) {
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num_values = 8;
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}
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// assume r_raw_rc_count may be less than _channels
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for (int i = 0; i < num_values; ++i) {
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_data.values[i] = values[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 = num_values;
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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 = sbus_failsafe;
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_data.rc_lost = sbus_frame_drop;
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_data.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_SBUS;
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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 usage(const char *reason);
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static void
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usage(const char *reason)
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{
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if (reason) {
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PX4_ERR("%s", reason);
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}
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PX4_INFO("usage: ocpoc_sbus_rc_in {start|stop|status}");
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}
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static RcInput *rc_input = nullptr;
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int ocpoc_sbus_rc_in_main(int argc, char *argv[])
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{
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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("already running");
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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 (rc_input == nullptr) {
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PX4_ERR("alloc failed");
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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("start failed");
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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("not running");
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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("running");
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} else {
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PX4_INFO("not running\n");
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}
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return 0;
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}
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usage("unrecognized command");
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return 1;
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}
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}; // namespace ocpoc_sbus_rc_in
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