tumbili
9 years ago
committed by
Lorenz Meier
7 changed files with 606 additions and 95 deletions
@ -0,0 +1,43 @@
@@ -0,0 +1,43 @@
|
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############################################################################ |
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# |
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# Copyright (c) 2016 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__snapdragon_rc_pwm |
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MAIN snapdragon_rc_pwm |
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COMPILE_FLAGS |
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-Os |
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SRCS |
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snapdragon_rc_pwm.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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@ -0,0 +1,428 @@
@@ -0,0 +1,428 @@
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/****************************************************************************
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* |
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* Copyright (c) 2016 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 snapdragon_rc_pwm.cpp |
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* @author Roman Bapst <roman@px4.io> |
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* |
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* This driver sends rc commands to the Snapdragon via UART. On the same UART it receives pwm |
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* motor commands from the Snapdragon. |
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*/ |
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#include <stdint.h> |
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#include <px4_tasks.h> |
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#include <px4_getopt.h> |
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#include <px4_posix.h> |
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#include <errno.h> |
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#include <string.h> |
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#include <termios.h> |
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#include <uORB/topics/input_rc.h> |
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#include <uORB/topics/actuator_outputs.h> |
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#include <uORB/topics/actuator_controls.h> |
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#include <uORB/topics/actuator_controls_0.h> |
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#include <v1.0/mavlink_types.h> |
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#include <v1.0/common/mavlink.h> |
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#include <drivers/drv_hrt.h> |
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#define MAX_LEN_DEV_PATH 32 |
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namespace snapdragon_rc_pwm |
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{ |
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static const uint8_t mavlink_message_lengths[256] = MAVLINK_MESSAGE_LENGTHS; |
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static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS; |
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volatile bool _task_should_exit = false; // flag indicating if uart_esc task should exit
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static char _device[MAX_LEN_DEV_PATH]; |
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static bool _is_running = false; // flag indicating if uart_esc app is running
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static px4_task_t _task_handle = -1; // handle to the task main thread
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static int _uart_fd = -1; |
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static bool _flow_control_enabled = false; |
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int _rc_sub = -1; |
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orb_advert_t _actuator_controls_pub = nullptr; |
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struct input_rc_s _rc = {}; |
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struct actuator_controls_s _actuators; |
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// Print out the usage information
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void usage(); |
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void start(); |
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/** uart_esc stop */ |
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void stop(); |
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int initialise_uart(); |
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int enable_flow_control(bool enabled); |
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void send_rc_mavlink(); |
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void handle_message(mavlink_message_t *msg); |
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/** task main trampoline function */ |
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void task_main_trampoline(int argc, char *argv[]); |
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/** uart_esc thread primary entry point */ |
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void task_main(int argc, char *argv[]); |
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void task_main(int argc, char *argv[]) |
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{ |
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char serial_buf[128]; |
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mavlink_status_t serial_status = {}; |
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_rc_sub = orb_subscribe(ORB_ID(input_rc)); |
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initialise_uart(); |
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// we wait for uart actuator controls messages from snapdragon
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px4_pollfd_struct_t fds[1]; |
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fds[0].fd = _uart_fd; |
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fds[0].events = POLLIN; |
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while (true) { |
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// wait for up to 100ms for data
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int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); |
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// timed out
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if (pret == 0) { |
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continue; |
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} |
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if (pret < 0) { |
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PX4_WARN("snapdragon_rc_pwm poll error"); |
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// sleep a bit before next try
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usleep(100000); |
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continue; |
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} |
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if (fds[0].revents & POLLIN) { |
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int len = ::read(_uart_fd, serial_buf, sizeof(serial_buf)); |
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if (len > 0) { |
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mavlink_message_t msg; |
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for (int i = 0; i < len; ++i) { |
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if (mavlink_parse_char(MAVLINK_COMM_1, serial_buf[i], &msg, &serial_status)) { |
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// have a message, handle it
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handle_message(&msg); |
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} |
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} |
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} |
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// check if we have new rc data, if yes send it to snapdragon
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bool rc_updated = false; |
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orb_check(_rc_sub, &rc_updated); |
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if (rc_updated) { |
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orb_copy(ORB_ID(input_rc), _rc_sub, &_rc); |
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// send mavlink message
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send_rc_mavlink(); |
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} |
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} |
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} |
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} |
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void handle_message(mavlink_message_t *msg) |
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{ |
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if (msg->msgid == MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET) { |
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mavlink_actuator_control_target_t actuator_controls; |
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mavlink_msg_actuator_control_target_decode(msg, &actuator_controls); |
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_actuators.control[0] = actuator_controls.controls[0]; |
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_actuators.control[1] = actuator_controls.controls[1]; |
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_actuators.control[2] = actuator_controls.controls[2]; |
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_actuators.control[3] = actuator_controls.controls[3]; |
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_actuators.timestamp = hrt_absolute_time(); |
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// publish actuator controls received from snapdragon
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if (_actuator_controls_pub == nullptr) { |
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_actuator_controls_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators); |
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} else { |
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orb_publish(ORB_ID(actuator_controls_0), _actuator_controls_pub, &_actuators); |
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} |
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} |
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} |
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void send_rc_mavlink() |
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{ |
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mavlink_rc_channels_t rc_message; |
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rc_message.time_boot_ms = _rc.timestamp_publication / 1000; |
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rc_message.chancount = _rc.channel_count; |
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rc_message.chan1_raw = (_rc.channel_count > 0) ? _rc.values[0] : UINT16_MAX; |
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rc_message.chan2_raw = (_rc.channel_count > 1) ? _rc.values[1] : UINT16_MAX; |
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rc_message.chan3_raw = (_rc.channel_count > 2) ? _rc.values[2] : UINT16_MAX; |
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rc_message.chan4_raw = (_rc.channel_count > 3) ? _rc.values[3] : UINT16_MAX; |
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rc_message.chan5_raw = (_rc.channel_count > 4) ? _rc.values[4] : UINT16_MAX; |
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rc_message.chan6_raw = (_rc.channel_count > 5) ? _rc.values[5] : UINT16_MAX; |
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rc_message.chan7_raw = (_rc.channel_count > 6) ? _rc.values[6] : UINT16_MAX; |
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rc_message.chan8_raw = (_rc.channel_count > 7) ? _rc.values[7] : UINT16_MAX; |
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rc_message.chan9_raw = (_rc.channel_count > 8) ? _rc.values[8] : UINT16_MAX; |
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rc_message.chan10_raw = (_rc.channel_count > 9) ? _rc.values[9] : UINT16_MAX; |
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rc_message.chan11_raw = (_rc.channel_count > 10) ? _rc.values[10] : UINT16_MAX; |
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rc_message.chan12_raw = (_rc.channel_count > 11) ? _rc.values[11] : UINT16_MAX; |
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rc_message.chan13_raw = (_rc.channel_count > 12) ? _rc.values[12] : UINT16_MAX; |
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rc_message.chan14_raw = (_rc.channel_count > 13) ? _rc.values[13] : UINT16_MAX; |
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rc_message.chan15_raw = (_rc.channel_count > 14) ? _rc.values[14] : UINT16_MAX; |
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rc_message.chan16_raw = (_rc.channel_count > 15) ? _rc.values[15] : UINT16_MAX; |
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rc_message.chan17_raw = (_rc.channel_count > 16) ? _rc.values[16] : UINT16_MAX; |
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rc_message.chan18_raw = (_rc.channel_count > 17) ? _rc.values[17] : UINT16_MAX; |
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rc_message.rssi = _rc.rssi; |
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const uint8_t msgid = MAVLINK_MSG_ID_RC_CHANNELS; |
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uint8_t component_ID = 0; |
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uint8_t payload_len = mavlink_message_lengths[msgid]; |
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unsigned packet_len = payload_len + MAVLINK_NUM_NON_PAYLOAD_BYTES; |
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uint8_t buf[MAVLINK_MAX_PACKET_LEN]; |
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/* header */ |
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buf[0] = MAVLINK_STX; |
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buf[1] = payload_len; |
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/* no idea which numbers should be here*/ |
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buf[2] = 100; |
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buf[3] = 0; |
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buf[4] = component_ID; |
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buf[5] = msgid; |
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/* payload */ |
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memcpy(&buf[MAVLINK_NUM_HEADER_BYTES], (const void *)&rc_message, payload_len); |
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/* checksum */ |
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uint16_t checksum; |
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crc_init(&checksum); |
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crc_accumulate_buffer(&checksum, (const char *) &buf[1], MAVLINK_CORE_HEADER_LEN + payload_len); |
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crc_accumulate(mavlink_message_crcs[msgid], &checksum); |
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buf[MAVLINK_NUM_HEADER_BYTES + payload_len] = (uint8_t)(checksum & 0xFF); |
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buf[MAVLINK_NUM_HEADER_BYTES + payload_len + 1] = (uint8_t)(checksum >> 8); |
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int len = ::write(_uart_fd, &buf[0], packet_len); |
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if (len < 1) { |
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PX4_WARN("failed sending rc mavlink message"); |
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} |
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} |
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int initialise_uart() |
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{ |
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// open uart
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_uart_fd = px4_open(_device, O_RDWR | O_NOCTTY); |
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int termios_state = -1; |
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if (_uart_fd < 0) { |
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PX4_WARN("failed to open uart device!"); |
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return -1; |
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} |
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// set baud rate
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int speed = B115200; |
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struct termios uart_config; |
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tcgetattr(_uart_fd, &uart_config); |
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// clear ONLCR flag (which appends a CR for every LF)
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uart_config.c_oflag &= ~ONLCR; |
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/* Set baud rate */ |
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if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { |
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warnx("ERR SET BAUD %s: %d\n", _device, termios_state); |
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::close(_uart_fd); |
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return -1; |
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} |
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if ((termios_state = tcsetattr(_uart_fd, TCSANOW, &uart_config)) < 0) { |
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PX4_WARN("ERR SET CONF %s\n", _device); |
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px4_close(_uart_fd); |
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return -1; |
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} |
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(void)tcgetattr(_uart_fd, &uart_config); |
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#ifdef CRTS_IFLOW |
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uart_config.c_cflag |= CRTS_IFLOW; |
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#else |
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uart_config.c_cflag |= CRTSCTS; |
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#endif |
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(void)tcsetattr(_uart_fd, TCSANOW, &uart_config); |
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/* setup output flow control */ |
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if (enable_flow_control(true)) { |
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PX4_WARN("hardware flow control not supported"); |
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} |
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return _uart_fd; |
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} |
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int enable_flow_control(bool enabled) |
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{ |
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struct termios uart_config; |
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int ret = tcgetattr(_uart_fd, &uart_config); |
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if (enabled) { |
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uart_config.c_cflag |= CRTSCTS; |
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} else { |
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uart_config.c_cflag &= ~CRTSCTS; |
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} |
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ret = tcsetattr(_uart_fd, TCSANOW, &uart_config); |
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if (!ret) { |
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_flow_control_enabled = enabled; |
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} |
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return ret; |
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} |
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// uart_esc main entrance
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void task_main_trampoline(int argc, char *argv[]) |
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{ |
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PX4_WARN("task_main_trampoline"); |
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task_main(argc, argv); |
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} |
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void start() |
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{ |
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ASSERT(_task_handle == -1); |
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/* start the task */ |
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_task_handle = px4_task_spawn_cmd("snapdragon_rc_pwm_main", |
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SCHED_DEFAULT, |
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SCHED_PRIORITY_MAX, |
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2000, |
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(px4_main_t)&task_main_trampoline, |
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nullptr); |
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if (_task_handle < 0) { |
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warn("task start failed"); |
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return; |
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} |
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_is_running = true; |
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} |
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void stop() |
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{ |
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// TODO - set thread exit signal to terminate the task main thread
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_is_running = false; |
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_task_handle = -1; |
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} |
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void usage() |
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{ |
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PX4_WARN("missing command: try 'start', 'stop', 'status'"); |
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PX4_WARN("options:"); |
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PX4_WARN(" -d device"); |
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} |
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} |
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extern "C" __EXPORT int snapdragon_rc_pwm_main(int argc, char *argv[]); |
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int snapdragon_rc_pwm_main(int argc, char *argv[]) |
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{ |
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const char *device = NULL; |
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int ch; |
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int myoptind = 1; |
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const char *myoptarg = NULL; |
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while ((ch = px4_getopt(argc, argv, "d:", &myoptind, &myoptarg)) != EOF) { |
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switch (ch) { |
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case 'd': |
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device = myoptarg; |
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break; |
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default: |
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snapdragon_rc_pwm::usage(); |
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return 1; |
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} |
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} |
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// Check on required arguments
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if (device == NULL || strlen(device) == 0) { |
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snapdragon_rc_pwm::usage(); |
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return 1; |
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} |
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memset(snapdragon_rc_pwm::_device, 0, MAX_LEN_DEV_PATH); |
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strncpy(snapdragon_rc_pwm::_device, device, strlen(device)); |
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const char *verb = argv[myoptind]; |
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/*
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* Start/load the driver. |
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*/ |
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if (!strcmp(verb, "start")) { |
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if (snapdragon_rc_pwm::_is_running) { |
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PX4_WARN("uart_esc already running"); |
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return 1; |
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} |
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snapdragon_rc_pwm::start(); |
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} |
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else if (!strcmp(verb, "stop")) { |
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if (snapdragon_rc_pwm::_is_running) { |
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PX4_WARN("snapdragon_rc_pwm is not running"); |
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return 1; |
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} |
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snapdragon_rc_pwm::stop(); |
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} |
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else if (!strcmp(verb, "status")) { |
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PX4_WARN("snapdragon_rc_pwm is %s", snapdragon_rc_pwm::_is_running ? "running" : "stopped"); |
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return 0; |
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} else { |
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snapdragon_rc_pwm::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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