/****************************************************************************
*
* 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();
}
}
