rpi_rc_in.h
3.25 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
/****************************************************************************
*
* Copyright (c) 2017 Fan.zhang. All rights reserved. 421395590@qq.com
* 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.
*
****************************************************************************/
#pragma once
/*! @file rpi_rc_in.h
* Raspberry Pi driver to publish RC input from shared memory.
* It requires the ppmdecode program (https://github.com/crossa/raspberry-pi-ppm-rc-in)
*/
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/ipc.h>
#include <sys/shm.h>
#include <fcntl.h>
#include <stdio.h>
#include <stdint.h>
#include <unistd.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <px4_platform_common/defines.h>
#include <drivers/drv_hrt.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/input_rc.h>
#define RCINPUT_MEASURE_INTERVAL_US 20000
namespace rpi_rc_in
{
class RcInput : public px4::ScheduledWorkItem
{
public:
RcInput() : ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default) {}
~RcInput();
/** @return 0 on success, -errno on failure */
int start();
/** @return 0 on success, -errno on failure */
void stop();
bool is_running()
{
return _is_running;
}
private:
void Run() override;
void _measure();
int rpi_rc_init();
bool _should_exit = false;
bool _is_running = false;
uORB::PublicationMulti<input_rc_s> _rcinput_pub{ORB_ID(input_rc)};
int _channels = 8; //D8R-II plus
input_rc_s _data{};
int *_mem = nullptr;
key_t _key = 4096; ///< shared memory key (matches the ppmdecode program's key)
int _shmid = 0;
};
static void usage(const char *reason);
static RcInput *rc_input = nullptr;
}
extern "C" __EXPORT int rpi_rc_in_main(int argc, char **argv);