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74 lines
2.1 KiB
74 lines
2.1 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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this is a driver for DSM input in the QFLIGHT board. It could be |
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extended to other boards in future by providing an open/read/write |
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abstraction |
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*/ |
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#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT |
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#include "RCInput_DSM.h" |
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#include <AP_HAL_Linux/qflight/qflight_util.h> |
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#include <AP_HAL_Linux/qflight/qflight_dsp.h> |
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#include <stdio.h> |
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extern const AP_HAL::HAL& hal; |
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using namespace Linux; |
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void RCInput_DSM::init() |
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{ |
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} |
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void RCInput_DSM::set_device_path(const char *path) |
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{ |
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device_path = path; |
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printf("Set DSM device path %s\n", path); |
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} |
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void RCInput_DSM::_timer_tick(void) |
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{ |
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if (device_path == nullptr) { |
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return; |
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} |
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int ret; |
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/* |
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we defer the open to the timer tick to ensure all RPC calls are |
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made in the same thread |
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*/ |
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if (fd == -1) { |
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ret = qflight_UART_open(device_path, &fd); |
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if (ret == 0) { |
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printf("Opened DSM input %s fd=%d\n", device_path, (int)fd); |
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fflush(stdout); |
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qflight_UART_set_baudrate(fd, 115200); |
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} |
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} |
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if (fd != -1) { |
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uint8_t bytes[16]; |
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int32_t nread; |
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ret = qflight_UART_read(fd, bytes, sizeof(bytes), &nread); |
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if (ret == 0 && nread > 0) { |
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// printf("Read %u DSM bytes at %u\n", (unsigned)nread, AP_HAL::millis()); |
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fflush(stdout); |
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add_dsm_input(bytes, nread); |
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} |
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} |
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} |
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#endif // CONFIG_HAL_BOARD_SUBTYPE |
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