Browse Source
- rc_input now provides reliable parsing for SBUS on Linux platform. linux_sbus can be fully removed.sbg
SalimTerryLi
5 years ago
committed by
GitHub
12 changed files with 4 additions and 537 deletions
@ -1,41 +0,0 @@
@@ -1,41 +0,0 @@
|
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############################################################################ |
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# |
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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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px4_add_module( |
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MODULE drivers__linux_sbus |
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MAIN linux_sbus |
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COMPILE_FLAGS |
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SRCS |
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linux_sbus.cpp |
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DEPENDS |
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) |
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@ -1,364 +0,0 @@
@@ -1,364 +0,0 @@
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/****************************************************************************
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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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#include <stdlib.h> |
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#include <string.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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ScheduleNow(); |
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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::Run() |
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{ |
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_measure(); |
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if (!_shouldExit) { |
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ScheduleDelayed(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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@ -1,119 +0,0 @@
@@ -1,119 +0,0 @@
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/****************************************************************************
|
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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. |
||||
* Copyright (C) 2017 PX4 Development Team. All rights reserved. |
||||
* |
||||
* Redistribution and use in source and binary forms, with or without |
||||
* modification, are permitted provided that the following conditions |
||||
* are met: |
||||
* |
||||
* 1. Redistributions of source code must retain the above copyright |
||||
* notice, this list of conditions and the following disclaimer. |
||||
* 2. Redistributions in binary form must reproduce the above copyright |
||||
* notice, this list of conditions and the following disclaimer in |
||||
* the documentation and/or other materials provided with the |
||||
* distribution. |
||||
* 3. Neither the name PX4 nor the names of its contributors may be |
||||
* used to endorse or promote products derived from this software |
||||
* without specific prior written permission. |
||||
* |
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||||
* POSSIBILITY OF SUCH DAMAGE. |
||||
* |
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****************************************************************************/ |
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|
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#pragma once |
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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 <sys/ipc.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 <unistd.h> |
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#include <fcntl.h> |
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#include <sys/ioctl.h> |
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/*For terminal I/O interfaces, termbits.h from asm-generic versions of functions guarantees non-standard communication (100Khz, Non-blocking), not guaranteed by termios.h*/ |
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#include <asm-generic/termbits.h> |
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#include <errno.h> |
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#include <px4_platform_common/px4_config.h> |
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp> |
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#include <px4_platform_common/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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/* The interval between each frame is 4700us, do not change it. */ |
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#define RCINPUT_MEASURE_INTERVAL_US 4700 |
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/* define range mapping here, -+100% -> 1000..2000 */ |
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#define SBUS_RANGE_MIN 200.0f |
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#define SBUS_RANGE_MAX 1800.0f |
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#define SBUS_TARGET_MIN 1000.0f |
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#define SBUS_TARGET_MAX 2000.0f |
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/* pre-calculate the floating point stuff as far as possible at compile time */ |
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#define SBUS_SCALE_FACTOR ((SBUS_TARGET_MAX - SBUS_TARGET_MIN) / (SBUS_RANGE_MAX - SBUS_RANGE_MIN)) |
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#define SBUS_SCALE_OFFSET (int)(SBUS_TARGET_MIN - (SBUS_SCALE_FACTOR * SBUS_RANGE_MIN + 0.5f)) |
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|
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namespace linux_sbus |
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{ |
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class RcInput : public px4::ScheduledWorkItem |
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{ |
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public: |
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RcInput() : |
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default), |
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_shouldExit(false), |
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_isRunning(false), |
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_rcinput_pub(nullptr), |
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_data { }, _sbusData { 0x0f, 0x01, 0x04, 0x20, 0x00, |
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0xff, 0x07, 0x40, 0x00, 0x02, |
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0x10, 0x80, 0x2c, 0x64, 0x21, |
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0x0b, 0x59, 0x08, 0x40, 0x00, |
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0x02, 0x10, 0x80, 0x00, 0x00 } |
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{ } |
||||
~RcInput() |
||||
{ |
||||
ScheduleClear(); |
||||
_isRunning = false; |
||||
close(_device_fd); |
||||
} |
||||
/** @return 0 on success, -errno on failure */ |
||||
int start(char *device, int channels); |
||||
void stop(); |
||||
|
||||
bool isRunning() |
||||
{ |
||||
return _isRunning; |
||||
} |
||||
|
||||
private: |
||||
void Run() override; |
||||
void _measure(); |
||||
bool _shouldExit; |
||||
bool _isRunning; |
||||
orb_advert_t _rcinput_pub; |
||||
struct input_rc_s _data; |
||||
uint8_t _sbusData[25]; |
||||
int _channels; |
||||
int _device_fd; /** serial port device to read SBUS; */ |
||||
int _channels_data[16]; /** 16 channels support; */ |
||||
uint8_t _buffer[25]; |
||||
char _device[30]; |
||||
bool _failsafe; |
||||
bool _rc_loss; |
||||
int init(); |
||||
}; |
||||
|
||||
static void usage(const char *reason); |
||||
static RcInput *rc_input = nullptr; |
||||
} |
||||
extern "C" __EXPORT int linux_sbus_main(int argc, char **argv); |
||||
Loading…
Reference in new issue