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89 lines
2.6 KiB
89 lines
2.6 KiB
12 years ago
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/****************************************************************************
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*
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* Copyright (C) 2012 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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/**
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* @file controls.c
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*
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* R/C inputs and servo outputs.
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*/
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#include <nuttx/config.h>
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#include <stdio.h>
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#include <stdbool.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <debug.h>
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#include <stdlib.h>
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#include <errno.h>
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#include <termios.h>
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#include <string.h>
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#include <poll.h>
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#include <nuttx/clock.h>
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#include <drivers/drv_hrt.h>
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#include <systemlib/hx_stream.h>
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#include <systemlib/perf_counter.h>
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#define DEBUG
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#include "px4io.h"
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void
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controls_main(void)
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{
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struct pollfd fds[2];
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fds[0].fd = dsm_init("/dev/ttyS0");
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fds[0].events = POLLIN;
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fds[1].fd = sbus_init("/dev/ttyS2");
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fds[1].events = POLLIN;
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for (;;) {
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/* run this loop at ~100Hz */
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poll(fds, 2, 10);
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if (fds[0].revents & POLLIN)
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dsm_input();
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if (fds[1].revents & POLLIN)
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sbus_input();
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/* XXX do ppm processing, bypass mode, etc. here */
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/* do PWM output updates */
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mixer_tick();
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}
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}
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