You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
88 lines
2.6 KiB
88 lines
2.6 KiB
/**************************************************************************** |
|
* |
|
* Copyright (C) 2012 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. |
|
* |
|
****************************************************************************/ |
|
|
|
/** |
|
* @file controls.c |
|
* |
|
* R/C inputs and servo outputs. |
|
*/ |
|
|
|
|
|
#include <nuttx/config.h> |
|
#include <stdio.h> |
|
#include <stdbool.h> |
|
#include <fcntl.h> |
|
#include <unistd.h> |
|
#include <debug.h> |
|
#include <stdlib.h> |
|
#include <errno.h> |
|
#include <termios.h> |
|
#include <string.h> |
|
#include <poll.h> |
|
|
|
#include <nuttx/clock.h> |
|
|
|
#include <drivers/drv_hrt.h> |
|
#include <systemlib/hx_stream.h> |
|
#include <systemlib/perf_counter.h> |
|
|
|
#define DEBUG |
|
#include "px4io.h" |
|
|
|
void |
|
controls_main(void) |
|
{ |
|
struct pollfd fds[2]; |
|
|
|
fds[0].fd = dsm_init("/dev/ttyS0"); |
|
fds[0].events = POLLIN; |
|
|
|
|
|
fds[1].fd = sbus_init("/dev/ttyS2"); |
|
fds[1].events = POLLIN; |
|
|
|
for (;;) { |
|
/* run this loop at ~100Hz */ |
|
poll(fds, 2, 10); |
|
|
|
if (fds[0].revents & POLLIN) |
|
dsm_input(); |
|
if (fds[1].revents & POLLIN) |
|
sbus_input(); |
|
|
|
/* XXX do ppm processing, bypass mode, etc. here */ |
|
|
|
/* do PWM output updates */ |
|
mixer_tick(); |
|
} |
|
}
|
|
|