fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 07:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

DSM input tested OK with DX7

Browse Source
This commit is contained in:
Mark Whitehorn
2016-01-14 17:55:52 +01:00
committed by Lorenz Meier
parent af42f454f7
commit 0f3878a48a
2 changed files with 57 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/boards/px4fmu-v4/board_config.h
+1 -1
View File
@@ -238,7 +238,7 @@ __BEGIN_DECLS
/* Power switch controls ******************************************************/
#define POWER_SPEKTRUM(_s) stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_s))
#define POWER_SPEKTRUM(_s) stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (1-_s))
#define GPIO_USART1_RX_SPEKTRUM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7)
#define SPEKTRUM_RX_HIGH(_s) stm32_gpiowrite(GPIO_USART1_RX_SPEKTRUM, (_s))
#define SPEKTRUM_RX_AS_UART() stm32_configgpio(GPIO_USART1_RX)
src/drivers/px4fmu/fmu.cpp
+56 -6
View File
@@ -134,8 +134,7 @@ private:
orb_advert_t _outputs_pub;
unsigned _num_outputs;
int _class_instance;
int _sbus_fd;
int _dsm_fd;
int _rcs_fd;
volatile bool _initialized;
bool _throttle_armed;
@@ -280,8 +279,7 @@ PX4FMU::PX4FMU() :
_outputs_pub(nullptr),
_num_outputs(0),
_class_instance(0),
_sbus_fd(-1),
_dsm_fd(-1),
_rcs_fd(-1),
_initialized(false),
_throttle_armed(false),
_pwm_on(false),
@@ -801,13 +799,65 @@ PX4FMU::cycle()
bool rc_updated = false;
#ifdef RC_SERIAL_PORT
#ifdef DSM_SERIAL_PORT
uint8_t n_bytes = 0;
uint8_t *bytes;
bool dsm_11_bit;
uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS];
uint16_t raw_rc_count;
bool dsm_updated = dsm_input(_rcs_fd, raw_rc_values, &raw_rc_count, &dsm_11_bit, &n_bytes, &bytes,
input_rc_s::RC_INPUT_MAX_CHANNELS);
if (dsm_updated) {
warnx("%llu, %u, %u, %u, %u, %u\n", hrt_absolute_time(), dsm_updated,
raw_rc_values[0], raw_rc_values[1], raw_rc_values[2],
raw_rc_values[3]);
// if (dsm_11_bit) {
// raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_DSM11;
//
// } else {
// raw_rc_flags &= ~PX4IO_P_RAW_RC_FLAGS_RC_DSM11;
// }
//
// raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
// raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
// we have a new SBUS frame. Publish it.
_rc_in.channel_count = raw_rc_count;
if (_rc_in.channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
_rc_in.channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
}
for (uint8_t i = 0; i < _rc_in.channel_count; i++) {
_rc_in.values[i] = raw_rc_values[i];
}
_rc_in.timestamp_publication = hrt_absolute_time();
_rc_in.timestamp_last_signal = _rc_in.timestamp_publication;
_rc_in.rc_ppm_frame_length = 0;
// _rc_in.rssi = (!sbus_frame_drop) ? RC_INPUT_RSSI_MAX : (RC_INPUT_RSSI_MAX / 2);
// _rc_in.rc_failsafe = sbus_failsafe;
_rc_in.rc_lost = false;
// _rc_in.rc_lost_frame_count = sbus_dropped_frames();
_rc_in.rc_total_frame_count = 0;
rc_updated = true;
}
#endif
#ifdef SBUS_SERIAL_PORT
bool sbus_failsafe, sbus_frame_drop;
uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS];
uint16_t raw_rc_count;
// read port
bool sbus_updated = sbus_input(_sbus_fd, &raw_rc_values[0], &raw_rc_count,
bool sbus_updated = sbus_input(_rcs_fd, &raw_rc_values[0], &raw_rc_count,
&sbus_failsafe, &sbus_frame_drop,
input_rc_s::RC_INPUT_MAX_CHANNELS);