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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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318 lines
8.1 KiB
C++
318 lines
8.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2023 ModalAI, Inc. 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 <string>
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#include <px4_log.h>
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#include <px4_platform_common/tasks.h>
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#include <px4_platform_common/getopt.h>
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#include <uORB/Subscription.hpp>
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#include <drivers/device/qurt/uart.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <lib/parameters/param.h>
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#include "elrs_led.h"
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extern "C" { __EXPORT int elrs_led_main(int argc, char *argv[]); }
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namespace elrs_led
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{
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std::string _port = "7";
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int _uart_fd = -1;
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bool _initialized = false;
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bool _is_running = false;
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static bool _debug = false;
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static GENERIC_CRC8 crsf_crc{};
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static LEDState _state = LEDState::DEFAULT;
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static ControllerInput _off = ControllerInput::DEFAULT;
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static ControllerInput _on = ControllerInput::DEFAULT;
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static ControllerInput _ir = ControllerInput::DEFAULT;
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static ControllerInput _cmd = ControllerInput::DEFAULT;
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static ControllerInput _prev_cmd = ControllerInput::DEFAULT;
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static std::map<ControllerInput, std::string> ControllerInputMap{
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{ControllerInput::DLEFT, "DLEFT"},
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{ControllerInput::DRIGHT, "DRIGHT"},
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{ControllerInput::DDOWN, "DDOWN"},
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{ControllerInput::DUP, "DUP"},
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{ControllerInput::BACK, "BACK"},
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{ControllerInput::START, "START"},
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{ControllerInput::Y, "Y"},
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{ControllerInput::B, "B"},
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{ControllerInput::A, "A"},
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{ControllerInput::X, "X"},
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{ControllerInput::STICK_RIGHT, "STICK_RIGHT"},
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{ControllerInput::STICK_LEFT, "STICK_LEFT"},
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{ControllerInput::BUMPER_RIGHT, "BUMPER_RIGHT"},
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{ControllerInput::BUMPER_LEFT, "BUMPER_LEFT"},
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{ControllerInput::DEFAULT, "Unkown"}
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};
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static px4_task_t _task_handle = -1;
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void debug_info(LEDState, uint8_t *);
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void make_packet(LEDState, uint8_t *);
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int initialize()
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{
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if (_initialized) {
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// Already successfully initialized
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return 0;
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}
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if (_uart_fd < 0) {
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_uart_fd = qurt_uart_open(_port.c_str(), 420000);
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}
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if (_uart_fd < 0) {
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PX4_ERR("Open failed in %s", __FUNCTION__);
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return -1;
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}
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_initialized = true;
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return 0;
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}
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void elrs_led_task()
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{
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PX4_INFO("Starting task for elrs_led");
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int ret = 0;
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int manual_control_input_fd = orb_subscribe(ORB_ID(manual_control_input));
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uint8_t pwmPacket[11] = {0xEC, 0x09, 0x32, 0x70, 0x77, 0x6D, 0x07, 0x75, 0x00, 0x00, 0x00};
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px4_pollfd_struct_t fds[1] = { { .fd = manual_control_input_fd, .events = POLLIN } };
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struct manual_control_setpoint_s setpoint_req;
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_is_running = true;
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while (true) {
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px4_poll(fds, 1, 10000);
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if (fds[0].revents & POLLIN) {
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orb_copy(ORB_ID(manual_control_input), manual_control_input_fd, &setpoint_req);
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_cmd = (ControllerInput)setpoint_req.buttons;
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// skip duplicate cmds
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if (_cmd == _prev_cmd) {
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continue;
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}
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if (_cmd == _off) {
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_prev_cmd = _cmd;
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_state = LEDState::OFF;
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make_packet(_state, pwmPacket);
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ret = qurt_uart_write(_uart_fd, (char *) &pwmPacket[0], sizeof(pwmPacket));
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if (_debug) {
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debug_info(_state, pwmPacket);
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}
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} else if (_cmd == _on) {
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_prev_cmd = _cmd;
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_state = LEDState::ON;
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make_packet(_state, pwmPacket);
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ret = qurt_uart_write(_uart_fd, (char *) &pwmPacket[0], sizeof(pwmPacket));
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if (_debug) {
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debug_info(_state, pwmPacket);
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}
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} else if (_cmd == _ir) {
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_prev_cmd = _cmd;
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_state = LEDState::IR;
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make_packet(_state, pwmPacket);
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ret = qurt_uart_write(_uart_fd, (char *) &pwmPacket[0], sizeof(pwmPacket));
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if (_debug) {
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debug_info(_state, pwmPacket);
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}
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}
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}
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}
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}
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int start(int argc, char *argv[])
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{
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int ch;
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int myoptind = 1;
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const char *myoptarg = nullptr;
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while ((ch = px4_getopt(argc, argv, "p:o:l:i:d", &myoptind, &myoptarg)) != EOF) {
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switch (ch) {
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case 'p':
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_port = myoptarg;
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break;
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case 'o':
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_off = getKey(ControllerInputMap, myoptarg);
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break;
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case 'l':
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_on = getKey(ControllerInputMap, myoptarg);
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break;
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case 'i':
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_ir = getKey(ControllerInputMap, myoptarg);
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break;
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case 'd':
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_debug = true;
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break;
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default:
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break;
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}
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}
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if (_debug) {
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PX4_INFO("ELRS LED Debug Mode Enabled");
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PX4_INFO("Port: %s", _port.c_str());
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PX4_INFO("Button Configuration:");
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PX4_INFO("\tOn: %s", ControllerInputMap.at(_on).c_str());
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PX4_INFO("\tIR: %s", ControllerInputMap.at(_ir).c_str());
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PX4_INFO("\tOff: %s", ControllerInputMap.at(_off).c_str());
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}
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if (! _initialized) {
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if (initialize()) {
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return -1;
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}
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}
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if (_is_running) {
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PX4_WARN("Already started");
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return 0;
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}
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_task_handle = px4_task_spawn_cmd("elrs_led_main",
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SCHED_DEFAULT,
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SCHED_PRIORITY_DEFAULT,
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2000,
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(px4_main_t) &elrs_led_task,
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(char *const *)argv);
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if (_task_handle < 0) {
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PX4_ERR("task start 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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void
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usage()
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{
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PX4_INFO("Usage: elrs_led start [options]");
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PX4_INFO("Options: -p <number> uart port number");
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PX4_INFO("Options: -o <number> LEDs off button");
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PX4_INFO("Options: -l <number> Overt LEDs on button");
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PX4_INFO("Options: -i <number> IR LEDs on button");
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PX4_INFO("Options: -d <number> enable debug messages");
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}
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void debug_info(LEDState led_state, uint8_t *pwmPacket)
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{
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PX4_INFO("");
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if (led_state == LEDState::ON) {
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PX4_INFO("Turning LEDs on");
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} else if (led_state == LEDState::OFF) {
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PX4_INFO("Turning LEDs off");
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} else if (led_state == LEDState::IR) {
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PX4_INFO("Turning IR LEDs on");
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} else {
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PX4_WARN("ELRS LED: LED state unknown: 0x%x", led_state);
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}
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PX4_INFO("Wrote packet: [0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x]",
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pwmPacket[0], pwmPacket[1], pwmPacket[2], pwmPacket[3], pwmPacket[4], pwmPacket[5],
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pwmPacket[6], pwmPacket[7], pwmPacket[8], pwmPacket[9], pwmPacket[10]);
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}
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void make_packet(LEDState led_state, uint8_t *pwmPacket)
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{
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if (led_state == LEDState::OFF) {
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pwmPacket[8] = 0x03;
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pwmPacket[9] = 0x84;
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pwmPacket[10] = crsf_crc.calc(&pwmPacket[CRSF_FRAME_NOT_COUNTED_BYTES], PWM_FRAME_SIZE - 1, 0);
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} else if (led_state == LEDState::ON) {
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pwmPacket[8] = 0x05;
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pwmPacket[9] = 0xAA;
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pwmPacket[10] = crsf_crc.calc(&pwmPacket[CRSF_FRAME_NOT_COUNTED_BYTES], PWM_FRAME_SIZE - 1, 0);
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} else if (led_state == LEDState::IR) {
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pwmPacket[8] = 0x07;
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pwmPacket[9] = 0xFF;
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pwmPacket[10] = crsf_crc.calc(&pwmPacket[CRSF_FRAME_NOT_COUNTED_BYTES], PWM_FRAME_SIZE - 1, 0);
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} else {
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PX4_WARN("ELRS LED: Unknown LED state.");
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}
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}
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} // End namespance elrs_led
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int elrs_led_main(int argc, char *argv[])
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{
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int myoptind = 1;
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if (argc <= 1) {
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elrs_led::usage();
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return -1;
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}
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const char *verb = argv[myoptind];
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if (!strcmp(verb, "start")) {
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return elrs_led::start(argc - 1, argv + 1);
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} else {
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elrs_led::usage();
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return -1;
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}
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return 0;
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}
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