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366 lines
11 KiB
C++
366 lines
11 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2017 Mark Charl. All rights reserved.
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* Copyright (C) 2017 Fan.zhang. 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 "linux_sbus.h"
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using namespace linux_sbus;
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//---------------------------------------------------------------------------------------------------------//
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int RcInput::init()
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{
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int i;
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/**
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* initialize the data of each channel
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*/
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for (i = 0; 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 (nullptr == _rcinput_pub) {
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PX4_WARN("error: advertise failed");
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return -1;
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}
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/**
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* open the serial port
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*/
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_device_fd = open(_device, O_RDWR | O_NONBLOCK | O_CLOEXEC);
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if (-1 == _device_fd) {
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PX4_ERR("Open SBUS input %s failed, status %d \n", _device,
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(int) _device_fd);
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fflush(stdout);
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return -1;
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}
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struct termios2 tio { };
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if (0 != ioctl(_device_fd, TCGETS2, &tio)) {
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close(_device_fd);
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_device_fd = -1;
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return -1;
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}
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/**
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* Setting serial port,8E2, non-blocking.100Kbps
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*/
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tio.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL
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| IXON);
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tio.c_iflag |= (INPCK | IGNPAR);
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tio.c_oflag &= ~OPOST;
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tio.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
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tio.c_cflag &= ~(CSIZE | CRTSCTS | PARODD | CBAUD);
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/**
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* use BOTHER to specify speed directly in c_[io]speed member
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*/
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tio.c_cflag |= (CS8 | CSTOPB | CLOCAL | PARENB | BOTHER | CREAD);
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tio.c_ispeed = 100000;
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tio.c_ospeed = 100000;
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tio.c_cc[VMIN] = 25;
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tio.c_cc[VTIME] = 0;
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if (0 != ioctl(_device_fd, TCSETS2, &tio)) {
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close(_device_fd);
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_device_fd = -1;
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return -1;
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}
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return 0;
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}
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//---------------------------------------------------------------------------------------------------------//
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int RcInput::start(char *device, int channels)
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{
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int result = 0;
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strcpy(_device, device);
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PX4_INFO("Device %s , channels: %d \n", device, channels);
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_channels = channels;
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result = init();
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if (0 != result) {
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PX4_WARN("error: RC 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,
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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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//---------------------------------------------------------------------------------------------------------//
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void RcInput::stop()
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{
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close(_device_fd);
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_shouldExit = true;
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}
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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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//---------------------------------------------------------------------------------------------------------//
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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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//---------------------------------------------------------------------------------------------------------//
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void RcInput::_measure(void)
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{
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uint64_t ts;
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int nread;
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fd_set fds;
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FD_ZERO(&fds);
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FD_SET(_device_fd, &fds);
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/**
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*error counter to count the lost frame
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*/
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int count = 0; //
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while (1) {
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nread = read(_device_fd, &_sbusData, sizeof(_sbusData));
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if (25 == nread) {
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/**
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* Notice: most sbus rx device support sbus1
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*/
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if (0x0f == _sbusData[0] && 0x00 == _sbusData[24]) {
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break;
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}
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}
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++count;
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usleep(RCINPUT_MEASURE_INTERVAL_US);
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}
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/**
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* parse sbus data to pwm
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*/
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_channels_data[0] =
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(uint16_t)(((_sbusData[1] | _sbusData[2] << 8) & 0x07FF)
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* SBUS_SCALE_FACTOR + .5f) + SBUS_SCALE_OFFSET;
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_channels_data[1] = (uint16_t)(((_sbusData[2] >> 3 | _sbusData[3] << 5)
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& 0x07FF) * SBUS_SCALE_FACTOR + .5f) + SBUS_SCALE_OFFSET;
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_channels_data[2] = (uint16_t)(((_sbusData[3] >> 6 | _sbusData[4] << 2
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| _sbusData[5] << 10) & 0x07FF) * SBUS_SCALE_FACTOR + .5f)
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+ SBUS_SCALE_OFFSET;
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_channels_data[3] = (uint16_t)(((_sbusData[5] >> 1 | _sbusData[6] << 7)
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& 0x07FF) * SBUS_SCALE_FACTOR + .5f) + SBUS_SCALE_OFFSET;
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_channels_data[4] = (uint16_t)(((_sbusData[6] >> 4 | _sbusData[7] << 4)
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& 0x07FF) * SBUS_SCALE_FACTOR + .5f) + SBUS_SCALE_OFFSET;
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_channels_data[5] = (uint16_t)(((_sbusData[7] >> 7 | _sbusData[8] << 1
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| _sbusData[9] << 9) & 0x07FF) * SBUS_SCALE_FACTOR + .5f)
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+ SBUS_SCALE_OFFSET;
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_channels_data[6] = (uint16_t)(((_sbusData[9] >> 2 | _sbusData[10] << 6)
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& 0x07FF) * SBUS_SCALE_FACTOR + .5f) + SBUS_SCALE_OFFSET;
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_channels_data[7] = (uint16_t)(((_sbusData[10] >> 5 | _sbusData[11] << 3)
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& 0x07FF) * SBUS_SCALE_FACTOR + .5f) + SBUS_SCALE_OFFSET; // & the other 8 + 2 channels if you need them
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_channels_data[8] = (uint16_t)(((_sbusData[12] | _sbusData[13] << 8)
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& 0x07FF) * SBUS_SCALE_FACTOR + .5f) + SBUS_SCALE_OFFSET;
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_channels_data[9] = (uint16_t)(((_sbusData[13] >> 3 | _sbusData[14] << 5)
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& 0x07FF) * SBUS_SCALE_FACTOR + .5f) + SBUS_SCALE_OFFSET;
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_channels_data[10] = (uint16_t)(((_sbusData[14] >> 6 | _sbusData[15] << 2
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| _sbusData[16] << 10) & 0x07FF) * SBUS_SCALE_FACTOR + .5f)
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+ SBUS_SCALE_OFFSET;
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_channels_data[11] = (uint16_t)(((_sbusData[16] >> 1 | _sbusData[17] << 7)
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& 0x07FF) * SBUS_SCALE_FACTOR + .5f) + SBUS_SCALE_OFFSET;
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_channels_data[12] = (uint16_t)(((_sbusData[17] >> 4 | _sbusData[18] << 4)
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& 0x07FF) * SBUS_SCALE_FACTOR + .5f) + SBUS_SCALE_OFFSET;
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_channels_data[13] = (uint16_t)(((_sbusData[18] >> 7 | _sbusData[19] << 1
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| _sbusData[20] << 9) & 0x07FF) * SBUS_SCALE_FACTOR + .5f)
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+ SBUS_SCALE_OFFSET;
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_channels_data[14] = (uint16_t)(((_sbusData[20] >> 2 | _sbusData[21] << 6)
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& 0x07FF) * SBUS_SCALE_FACTOR + .5f) + SBUS_SCALE_OFFSET;
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_channels_data[15] = (uint16_t)(((_sbusData[21] >> 5 | _sbusData[22] << 3)
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& 0x07FF) * SBUS_SCALE_FACTOR + .5f) + SBUS_SCALE_OFFSET;
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int i = 0;
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for (i = 0; i < _channels; ++i) {
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_data.values[i] = _channels_data[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 = _channels;
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_data.rssi = 100;
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_data.rc_lost_frame_count = count;
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_data.rc_total_frame_count = 1;
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_data.rc_ppm_frame_length = 0;
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_data.rc_failsafe = (_sbusData[23] & (1 << 3)) ? true : false;
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_data.rc_lost = (_sbusData[23] & (1 << 2)) ? true : false;
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_data.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_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 linux_sbus::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: linux_sbus {start|stop|status} -d <device> -c <channel>");
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}
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//---------------------------------------------------------------------------------------------------------//
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int linux_sbus_main(int argc, char **argv)
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{
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int start;
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int command = -1;
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/**
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* ttyS1 for default, it can be changed through -d parameter
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*/
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char device[30] = "/dev/ttyS1";
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/**
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* 8 channel for default setting, it can be changed through -c parameter
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*/
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int max_channel = 8;
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/**
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* Parse command line and get device and channels count from consolex
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*/
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for (start = 0; start < argc; ++start) {
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if (0 == strcmp(argv[start], "start")) {
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command = 0;
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continue;
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}
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if (0 == strcmp(argv[start], "stop")) {
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command = 1;
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continue;
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}
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if (0 == strcmp(argv[start], "status")) {
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command = 2;
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continue;
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}
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if (0 == strcmp(argv[start], "-d")) {
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if (argc > (start + 1)) {
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strcpy(device, argv[start + 1]);
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}
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continue;
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}
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if (0 == strcmp(argv[start], "-c")) {
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if (argc > (start + 1)) {
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max_channel = atoi(argv[start + 1]);
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}
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continue;
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}
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}
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/**
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* Channels count can't be higher than 16;
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*/
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max_channel = (max_channel > 16) ? 16 : max_channel;
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if (0 == command) {
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if (nullptr != rc_input && rc_input->isRunning()) {
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PX4_WARN("running");
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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 (nullptr == rc_input) {
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PX4_ERR("Sbus driver initialization failed");
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return -1;
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}
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int ret = rc_input->start(device, max_channel);
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if (ret != 0) {
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PX4_ERR("Linux sbus module failure");
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}
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return 0;
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}
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if (1 == command) {
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if (rc_input == nullptr || !rc_input->isRunning()) {
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PX4_WARN("Not running \n");
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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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/**
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* Wait for task to die
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*/
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int i = 0;
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do {
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/* wait up to 100ms */
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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 (2 == command) {
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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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linux_sbus::usage(
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"Usage: linux_sbus start|stop|status -d <device> -c <channel>");
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return 0;
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}
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//---------------------------------------------------------------------------------------------------------//
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