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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-05 18:38:53 +08:00
scan working for SBUS and DSM
This commit is contained in:
Mark Whitehorn
committed by
Lorenz Meier
Lorenz Meier
parent
0f3878a48a
commit
02030d9b36
+140
-78
@@ -119,6 +119,13 @@ public:
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int set_i2c_bus_clock(unsigned bus, unsigned clock_hz);
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private:
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enum RC_SCAN {
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RC_SCAN_SBUS = 0,
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RC_SCAN_DSM,
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RC_SCAN_SUMD,
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RC_SCAN_ST24
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};
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static const unsigned _max_actuators = DIRECT_PWM_OUTPUT_CHANNELS;
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Mode _mode;
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@@ -629,6 +636,9 @@ PX4FMU::cycle()
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update_pwm_rev_mask();
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#ifdef RC_SERIAL_PORT
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_rcs_fd = :: open(RC_SERIAL_PORT, O_RDWR | O_NONBLOCK);
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#endif
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_initialized = true;
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}
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@@ -799,93 +809,145 @@ PX4FMU::cycle()
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bool rc_updated = false;
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#ifdef DSM_SERIAL_PORT
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uint8_t n_bytes = 0;
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uint8_t *bytes;
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bool dsm_11_bit;
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uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS];
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uint16_t raw_rc_count;
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#ifdef RC_SERIAL_PORT
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// This block scans for a supported serial RC input and locks onto the first one found
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static hrt_abstime rc_scan_last_lock = 0;
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static hrt_abstime rc_scan_begin = 0;
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// static bool rc_scan_locked = false;
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static enum RC_SCAN _rc_scan_state = RC_SCAN_SBUS;
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bool dsm_updated = dsm_input(_rcs_fd, raw_rc_values, &raw_rc_count, &dsm_11_bit, &n_bytes, &bytes,
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input_rc_s::RC_INPUT_MAX_CHANNELS);
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// Scan for one second, then switch protocol
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constexpr hrt_abstime rc_scan_max = 1000 * 1000;
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hrt_abstime now = hrt_absolute_time();
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if (dsm_updated) {
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switch (_rc_scan_state) {
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case RC_SCAN_SBUS:
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if (rc_scan_begin == 0) {
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warnx("fmu: RC_SCAN_SBUS: begin");
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rc_scan_begin = now;
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// // Configure serial port for SBUS
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sbus_config(_rcs_fd, false);
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// /* for PixRacer R07, this signal is active low */
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// /* for PixRacer R12, this signal is active high */
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stm32_gpiowrite(GPIO_SBUS_INV, 0);
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} else if (hrt_absolute_time() - rc_scan_last_lock < rc_scan_max
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|| hrt_absolute_time() - rc_scan_begin < rc_scan_max) {
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warnx("%llu, %u, %u, %u, %u, %u\n", hrt_absolute_time(), dsm_updated,
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raw_rc_values[0], raw_rc_values[1], raw_rc_values[2],
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raw_rc_values[3]);
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bool sbus_failsafe, sbus_frame_drop;
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uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS];
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uint16_t raw_rc_count;
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// if (dsm_11_bit) {
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// raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_DSM11;
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// read port
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rc_updated = sbus_input(_rcs_fd, &raw_rc_values[0], &raw_rc_count,
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&sbus_failsafe, &sbus_frame_drop,
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input_rc_s::RC_INPUT_MAX_CHANNELS);
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if (rc_updated) {
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// we have a new SBUS frame. Publish it.
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_rc_in.channel_count = raw_rc_count;
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if (_rc_in.channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
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_rc_in.channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
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}
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for (uint8_t i = 0; i < _rc_in.channel_count; i++) {
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_rc_in.values[i] = raw_rc_values[i];
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}
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_rc_in.timestamp_publication = hrt_absolute_time();
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_rc_in.timestamp_last_signal = _rc_in.timestamp_publication;
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_rc_in.rc_ppm_frame_length = 0;
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_rc_in.rssi = (!sbus_frame_drop) ? RC_INPUT_RSSI_MAX : (RC_INPUT_RSSI_MAX / 2);
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_rc_in.rc_failsafe = sbus_failsafe;
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_rc_in.rc_lost = false;
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_rc_in.rc_lost_frame_count = sbus_dropped_frames();
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_rc_in.rc_total_frame_count = 0;
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rc_scan_last_lock = now;
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// rc_scan_locked = true;
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}
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} else {
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// This triggers the port re-configuration
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rc_scan_begin = 0;
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// rc_scan_locked = false;
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// Scan the next protocol
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_rc_scan_state = RC_SCAN_DSM;
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}
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break;
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case RC_SCAN_DSM:
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if (rc_scan_begin == 0) {
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warnx("fmu: RC_SCAN_DSM: begin");
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rc_scan_begin = now;
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// // Configure serial port for DSM
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dsm_config(_rcs_fd);
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// /* for PixRacer R07, this signal is active low */
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// /* for PixRacer R12, this signal is active high */
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stm32_gpiowrite(GPIO_SBUS_INV, 1);
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} else if (hrt_absolute_time() - rc_scan_last_lock < rc_scan_max
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|| hrt_absolute_time() - rc_scan_begin < rc_scan_max) {
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uint8_t n_bytes = 0;
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uint8_t *bytes;
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bool dsm_11_bit;
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uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS];
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uint16_t raw_rc_count;
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rc_updated = dsm_input(_rcs_fd, raw_rc_values, &raw_rc_count, &dsm_11_bit, &n_bytes, &bytes,
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input_rc_s::RC_INPUT_MAX_CHANNELS);
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if (rc_updated) {
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// warnx("%llu, %u, %u, %u, %u, %u\n", hrt_absolute_time(), rc_updated,
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// raw_rc_values[0], raw_rc_values[1], raw_rc_values[2],
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// raw_rc_values[3]);
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//
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// } else {
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// raw_rc_flags &= ~PX4IO_P_RAW_RC_FLAGS_RC_DSM11;
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// }
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//
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// raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
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// raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
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// if (dsm_11_bit) {
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// raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_DSM11;
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//
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// } else {
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// raw_rc_flags &= ~PX4IO_P_RAW_RC_FLAGS_RC_DSM11;
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// }
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//
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// raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
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// raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
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// we have a new SBUS frame. Publish it.
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_rc_in.channel_count = raw_rc_count;
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// we have a new SBUS frame. Publish it.
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_rc_in.channel_count = raw_rc_count;
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if (_rc_in.channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
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_rc_in.channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
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if (_rc_in.channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
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_rc_in.channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
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}
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for (uint8_t i = 0; i < _rc_in.channel_count; i++) {
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_rc_in.values[i] = raw_rc_values[i];
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}
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_rc_in.timestamp_publication = hrt_absolute_time();
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_rc_in.timestamp_last_signal = _rc_in.timestamp_publication;
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_rc_in.rc_ppm_frame_length = 0;
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// _rc_in.rssi = (!sbus_frame_drop) ? RC_INPUT_RSSI_MAX : (RC_INPUT_RSSI_MAX / 2);
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// _rc_in.rc_failsafe = sbus_failsafe;
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_rc_in.rc_lost = false;
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// _rc_in.rc_lost_frame_count = sbus_dropped_frames();
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_rc_in.rc_total_frame_count = 0;
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rc_scan_last_lock = now;
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// rc_scan_locked = true;
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}
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} else {
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// This triggers the port re-configuration
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rc_scan_begin = 0;
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// rc_scan_locked = false;
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// Scan the next protocol
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_rc_scan_state = RC_SCAN_SBUS;
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}
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for (uint8_t i = 0; i < _rc_in.channel_count; i++) {
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_rc_in.values[i] = raw_rc_values[i];
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}
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_rc_in.timestamp_publication = hrt_absolute_time();
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_rc_in.timestamp_last_signal = _rc_in.timestamp_publication;
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_rc_in.rc_ppm_frame_length = 0;
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// _rc_in.rssi = (!sbus_frame_drop) ? RC_INPUT_RSSI_MAX : (RC_INPUT_RSSI_MAX / 2);
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// _rc_in.rc_failsafe = sbus_failsafe;
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_rc_in.rc_lost = false;
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// _rc_in.rc_lost_frame_count = sbus_dropped_frames();
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_rc_in.rc_total_frame_count = 0;
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rc_updated = true;
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break;
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case RC_SCAN_ST24:
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case RC_SCAN_SUMD:
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break;
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}
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#endif
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#ifdef SBUS_SERIAL_PORT
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bool sbus_failsafe, sbus_frame_drop;
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uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS];
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uint16_t raw_rc_count;
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// read port
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bool sbus_updated = sbus_input(_rcs_fd, &raw_rc_values[0], &raw_rc_count,
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&sbus_failsafe, &sbus_frame_drop,
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input_rc_s::RC_INPUT_MAX_CHANNELS);
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if (sbus_updated) {
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// we have a new SBUS frame. Publish it.
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_rc_in.channel_count = raw_rc_count;
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if (_rc_in.channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
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_rc_in.channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
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}
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for (uint8_t i = 0; i < _rc_in.channel_count; i++) {
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_rc_in.values[i] = raw_rc_values[i];
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}
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_rc_in.timestamp_publication = hrt_absolute_time();
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_rc_in.timestamp_last_signal = _rc_in.timestamp_publication;
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_rc_in.rc_ppm_frame_length = 0;
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_rc_in.rssi = (!sbus_frame_drop) ? RC_INPUT_RSSI_MAX : (RC_INPUT_RSSI_MAX / 2);
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_rc_in.rc_failsafe = sbus_failsafe;
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_rc_in.rc_lost = false;
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_rc_in.rc_lost_frame_count = sbus_dropped_frames();
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_rc_in.rc_total_frame_count = 0;
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rc_updated = true;
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}
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#endif
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#ifdef HRT_PPM_CHANNEL
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