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author | px4dev <px4@purgatory.org> | 2012-11-30 00:02:47 -0800 |
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committer | px4dev <px4@purgatory.org> | 2012-11-30 00:02:47 -0800 |
commit | 9fa794a8faa2d30023d9943beae55a05ed4e48a0 (patch) | |
tree | cc05d6eafae584fb6c5cdfc731ece7f8be5f8f82 /apps/px4io/controls.c | |
parent | e153476950a3fbda230c6bddd9ad35018cfda559 (diff) | |
download | px4-firmware-9fa794a8faa2d30023d9943beae55a05ed4e48a0.tar.gz px4-firmware-9fa794a8faa2d30023d9943beae55a05ed4e48a0.tar.bz2 px4-firmware-9fa794a8faa2d30023d9943beae55a05ed4e48a0.zip |
Rework the PX4IO software architecture:
- Use a separate thread for handing R/C inputs and outputs.
- Remove all PX4IO R/C receiver configuration; it's all automatic now.
- Rework the main loop, dedicate it to PX4FMU communications after startup.
- Fix several issues in the px4io driver that would cause a crash if PX4IO was not responding.
Diffstat (limited to 'apps/px4io/controls.c')
-rw-r--r-- | apps/px4io/controls.c | 88 |
1 files changed, 88 insertions, 0 deletions
diff --git a/apps/px4io/controls.c b/apps/px4io/controls.c new file mode 100644 index 000000000..d4eace3df --- /dev/null +++ b/apps/px4io/controls.c @@ -0,0 +1,88 @@ +/**************************************************************************** + * + * 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(); + } +} |