fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-17 07:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Graupner HoTT SUMD/SUMH Receiver Protocol added

Browse Source
This commit is contained in:
NosDE
2015-03-07 11:39:00 +01:00
committed by Lorenz Meier
parent 332d42b105
commit 04f4206371
9 changed files with 15007 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/px4iofirmware/controls.c
+35 -7
View File
@@ -45,6 +45,7 @@
#include <systemlib/perf_counter.h>
#include <systemlib/ppm_decode.h>
#include <rc/st24.h>
#include <rc/sumd.h>
#include "px4io.h"
@@ -53,7 +54,7 @@
#define RC_CHANNEL_LOW_THRESH -8000 /* 10% threshold */
static bool ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len);
static bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated);
static bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool *sumd_updated);
static perf_counter_t c_gather_dsm;
static perf_counter_t c_gather_sbus;
@@ -63,7 +64,7 @@ static int _dsm_fd;
static uint16_t rc_value_override = 0;
bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated)
bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool *sumd_updated)
{
perf_begin(c_gather_dsm);
uint16_t temp_count = r_raw_rc_count;
@@ -106,7 +107,31 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated)
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
}
return (*dsm_updated | *st24_updated);
/* get data from FD and attempt to parse with SUMD libs */
uint8_t sumd_rssi, sumd_rx_count;
uint16_t sumd_channel_count = 0;
*sumd_updated = false;
for (unsigned i = 0; i < n_bytes; i++) {
/* set updated flag if one complete packet was parsed */
st24_rssi = RC_INPUT_RSSI_MAX;
*sumd_updated |= (OK == sumd_decode(bytes[i], &sumd_rssi, &sumd_rx_count,
&sumd_channel_count, r_raw_rc_values, PX4IO_RC_INPUT_CHANNELS));
}
if (*sumd_updated) {
*rssi = sumd_rssi;
r_raw_rc_count = sumd_channel_count;
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SUMD;
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
}
return (*dsm_updated | *st24_updated | *sumd_updated);
}
void
@@ -169,14 +194,17 @@ controls_tick() {
#endif
perf_begin(c_gather_dsm);
bool dsm_updated, st24_updated;
(void)dsm_port_input(&rssi, &dsm_updated, &st24_updated);
bool dsm_updated, st24_updated, sumd_updated;
(void)dsm_port_input(&rssi, &dsm_updated, &st24_updated, &sumd_updated);
if (dsm_updated) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM;
}
if (st24_updated) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_ST24;
}
if (sumd_updated) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SUMD;
}
perf_end(c_gather_dsm);
perf_begin(c_gather_sbus);
@@ -238,7 +266,7 @@ controls_tick() {
/*
* If we received a new frame from any of the RC sources, process it.
*/
if (dsm_updated || sbus_updated || ppm_updated || st24_updated) {
if (dsm_updated || sbus_updated || ppm_updated || st24_updated || sumd_updated) {
/* record a bitmask of channels assigned */
unsigned assigned_channels = 0;
@@ -438,7 +466,7 @@ controls_tick() {
r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
/* mix new RC input control values to servos */
if (dsm_updated || sbus_updated || ppm_updated || st24_updated)
if (dsm_updated || sbus_updated || ppm_updated || st24_updated || sumd_updated)
mixer_tick();
} else {
src/modules/px4iofirmware/module.mk
+2 -1
View File
@@ -14,7 +14,8 @@ SRCS = adc.c \
../systemlib/mixer/mixer_multirotor.cpp \
../systemlib/mixer/mixer_simple.cpp \
../systemlib/pwm_limit/pwm_limit.c \
../../lib/rc/st24.c
../../lib/rc/st24.c \
../../lib/rc/sumd.c
ifeq ($(BOARD),px4io-v1)
SRCS += i2c.c
src/modules/px4iofirmware/protocol.h
+1
View File
@@ -115,6 +115,7 @@
#define PX4IO_P_STATUS_FLAGS_SAFETY_OFF (1 << 12) /* safety is off */
#define PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED (1 << 13) /* FMU was initialized and OK once */
#define PX4IO_P_STATUS_FLAGS_RC_ST24 (1 << 14) /* ST24 input is valid */
#define PX4IO_P_STATUS_FLAGS_RC_SUMD (1 << 15) /* SUMD input is valid */
#define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */
#define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* [1] VBatt is very close to regulator dropout */