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Merge branch 'master' of https://github.com/PX4/Firmware into px4flow_integral_i2c

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This commit is contained in:
dominiho
2014-10-29 17:14:53 +01:00
parent 4a3a16475e 4839ed915c
commit 37d399f050
3 changed files with 36 additions and 23 deletions
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mavlink/include/mavlink/v1.0
+1 -1
Submodule mavlink/include/mavlink/v1.0 updated: 8587a007cf...76a9dd7563
src/modules/px4iofirmware/sbus.c
+33 -22
View File
@@ -61,7 +61,7 @@
/*
Measured values with Futaba FX-30/R6108SB:
-+100% on TX: PCM 1.100/1.520/1.950ms -> SBus raw values: 350/1024/1700 (100% ATV)
-+140% on TX: PCM 0.930/1.520/2.112ms -> SBus raw values: 78/1024/1964 (140% ATV)
-+140% on TX: PCM 0.930/1.520/2.112ms -> SBus raw values: 78/1024/1964 (140% ATV)
-+152% on TX: PCM 0.884/1.520/2.160ms -> SBus raw values: 1/1024/2047 (140% ATV plus dirty tricks)
*/
@@ -87,13 +87,15 @@ static unsigned partial_frame_count;
unsigned sbus_frame_drops;
static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels);
static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool *sbus_failsafe,
bool *sbus_frame_drop, uint16_t max_channels);
int
sbus_init(const char *device)
{
if (sbus_fd < 0)
if (sbus_fd < 0) {
sbus_fd = open(device, O_RDWR | O_NONBLOCK);
}
if (sbus_fd >= 0) {
struct termios t;
@@ -113,6 +115,7 @@ sbus_init(const char *device)
} else {
debug("S.Bus: open failed");
}
return sbus_fd;
}
@@ -167,8 +170,9 @@ sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sb
ret = read(sbus_fd, &frame[partial_frame_count], SBUS_FRAME_SIZE - partial_frame_count);
/* if the read failed for any reason, just give up here */
if (ret < 1)
if (ret < 1) {
return false;
}
last_rx_time = now;
@@ -180,8 +184,9 @@ sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sb
/*
* If we don't have a full frame, return
*/
if (partial_frame_count < SBUS_FRAME_SIZE)
if (partial_frame_count < SBUS_FRAME_SIZE) {
return false;
}
/*
* Great, it looks like we might have a frame. Go ahead and
@@ -228,7 +233,8 @@ static const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3] = {
};
static bool
sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_values)
sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop,
uint16_t max_values)
{
/* check frame boundary markers to avoid out-of-sync cases */
if ((frame[0] != 0x0f)) {
@@ -237,23 +243,27 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool
}
switch (frame[24]) {
case 0x00:
case 0x00:
/* this is S.BUS 1 */
break;
case 0x03:
case 0x03:
/* S.BUS 2 SLOT0: RX battery and external voltage */
break;
case 0x83:
case 0x83:
/* S.BUS 2 SLOT1 */
break;
case 0x43:
case 0xC3:
case 0x23:
case 0xA3:
case 0x63:
case 0xE3:
case 0x43:
case 0xC3:
case 0x23:
case 0xA3:
case 0x63:
case 0xE3:
break;
default:
default:
/* we expect one of the bits above, but there are some we don't know yet */
break;
}
@@ -283,7 +293,7 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool
/* convert 0-2048 values to 1000-2000 ppm encoding in a not too sloppy fashion */
values[channel] = (uint16_t)(value * SBUS_SCALE_FACTOR +.5f) + SBUS_SCALE_OFFSET;
values[channel] = (uint16_t)(value * SBUS_SCALE_FACTOR + .5f) + SBUS_SCALE_OFFSET;
}
/* decode switch channels if data fields are wide enough */
@@ -304,16 +314,17 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool
/* report that we failed to read anything valid off the receiver */
*sbus_failsafe = true;
*sbus_frame_drop = true;
}
else if (frame[SBUS_FLAGS_BYTE] & (1 << SBUS_FRAMELOST_BIT)) { /* a frame was lost */
} else if (frame[SBUS_FLAGS_BYTE] & (1 << SBUS_FRAMELOST_BIT)) { /* a frame was lost */
/* set a special warning flag
*
* Attention! This flag indicates a skipped frame only, not a total link loss! Handling this
* condition as fail-safe greatly reduces the reliability and range of the radio link,
*
* Attention! This flag indicates a skipped frame only, not a total link loss! Handling this
* condition as fail-safe greatly reduces the reliability and range of the radio link,
* e.g. by prematurely issueing return-to-launch!!! */
*sbus_failsafe = false;
*sbus_frame_drop = true;
} else {
*sbus_failsafe = false;
*sbus_frame_drop = false;
src/systemcmds/tests/tests_main.c
+2
View File
@@ -110,7 +110,9 @@ const struct {
{"conv", test_conv, OPT_NOJIGTEST | OPT_NOALLTEST},
{"mount", test_mount, OPT_NOJIGTEST | OPT_NOALLTEST},
{"mtd", test_mtd, 0},
#ifndef TESTS_MATHLIB_DISABLE
{"mathlib", test_mathlib, 0},
#endif
{"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST},
{NULL, NULL, 0}
};