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Merged DSM fixes

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This commit is contained in:
Lorenz Meier
2012-12-05 19:55:33 +01:00
parent 126e6ac207 fd771f67f2
commit 1ebb3b4ada
22 changed files with 784 additions and 123 deletions
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apps/px4io/controls.c
+67 -9
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@@ -55,6 +55,7 @@
#include <drivers/drv_hrt.h>
#include <systemlib/hx_stream.h>
#include <systemlib/perf_counter.h>
#include <systemlib/ppm_decode.h>
#define DEBUG
#include "px4io.h"
@@ -63,15 +64,18 @@
#define RC_CHANNEL_HIGH_THRESH 1600
#define RC_CHANNEL_LOW_THRESH 1400
static void ppm_input(void);
void
controls_main(void)
{
struct pollfd fds[2];
/* DSM input */
fds[0].fd = dsm_init("/dev/ttyS0");
fds[0].events = POLLIN;
/* S.bus input */
fds[1].fd = sbus_init("/dev/ttyS2");
fds[1].events = POLLIN;
@@ -79,10 +83,32 @@ controls_main(void)
/* run this loop at ~100Hz */
poll(fds, 2, 10);
/*
* Gather R/C control inputs from supported sources.
*
* Note that if you're silly enough to connect more than
* one control input source, they're going to fight each
* other. Don't do that.
*/
bool locked = false;
if (fds[0].revents & POLLIN)
dsm_input();
locked |= dsm_input();
if (fds[1].revents & POLLIN)
sbus_input();
locked |= sbus_input();
/*
* If we don't have lock from one of the serial receivers,
* look for PPM. It shares an input with S.bus, so there's
* a possibility it will mis-parse an S.bus frame.
*
* XXX each S.bus frame will cause a PPM decoder interrupt
* storm (lots of edges). It might be sensible to actually
* disable the PPM decoder completely if we have an alternate
* receiver lock.
*/
if (!locked)
ppm_input();
/* force manual input override */
if (system_state.rc_channel_data[4] > RC_CHANNEL_HIGH_THRESH) {
@@ -92,16 +118,48 @@ controls_main(void)
system_state.mixer_use_fmu = true;
}
/* detect rc loss event */
if (hrt_absolute_time() - system_state.rc_channels_timestamp > RC_FAILSAFE_TIMEOUT) {
/*
* If we haven't seen any new control data in 200ms, assume we
* have lost input and tell FMU.
*/
if ((hrt_absolute_time() - system_state.rc_channels_timestamp) > 200000) {
/* set the number of channels to zero - no inputs */
system_state.rc_channels = 0;
system_state.rc_lost = true;
/* trigger an immediate report to the FMU */
system_state.fmu_report_due = true;
}
/* XXX detect fmu loss event */
/* XXX handle failsave events - RC loss and FMU loss - here */
/* do PWM output updates */
mixer_tick();
}
}
static void
ppm_input(void)
{
/*
* Look for new PPM input.
*/
if (ppm_last_valid_decode != 0) {
/* avoid racing with PPM updates */
irqstate_t state = irqsave();
/* PPM data exists, copy it */
system_state.rc_channels = ppm_decoded_channels;
for (unsigned i = 0; i < ppm_decoded_channels; i++)
system_state.rc_channel_data[i] = ppm_buffer[i];
/* copy the timestamp and clear it */
system_state.rc_channels_timestamp = ppm_last_valid_decode;
ppm_last_valid_decode = 0;
irqrestore(state);
/* trigger an immediate report to the FMU */
system_state.fmu_report_due = true;
}
}