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Add prototypical support for Spektrum satellite remotes to PX4IO.

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This commit is contained in:
px4dev
2012-11-05 00:55:45 -08:00
parent 87fd9fcc06
commit 39659e57f8
7 changed files with 316 additions and 45 deletions
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apps/px4io/comms.c
+44 -7
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@@ -116,18 +116,32 @@ int frame_rx;
int frame_bad;
static void
comms_handle_frame(void *arg, const void *buffer, size_t length)
comms_handle_config(const void *buffer, size_t length)
{
struct px4io_command *cmd = (struct px4io_command *)buffer;
const struct px4io_config *cfg = (struct px4io_config *)buffer;
/* make sure it's what we are expecting */
if ((length != sizeof(struct px4io_command)) ||
(cmd->f2i_magic != F2I_MAGIC)) {
frame_bad++;
if (length != sizeof(*cfg)) {
frame_bad++;
return;
}
frame_rx++;
mixer_set_serial_mode(cfg->serial_rx_mode);
}
static void
comms_handle_command(const void *buffer, size_t length)
{
const struct px4io_command *cmd = (struct px4io_command *)buffer;
if (length != sizeof(*cmd)) {
frame_bad++;
return;
}
frame_rx++;
irqstate_t flags = irqsave();
/* fetch new PWM output values */
@@ -146,6 +160,29 @@ comms_handle_frame(void *arg, const void *buffer, size_t length)
for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++)
system_state.relays[i] = cmd->relay_state[i];
out:
irqrestore(flags);
}
static void
comms_handle_frame(void *arg, const void *buffer, size_t length)
{
const uint16_t *type = (const uint16_t *)buffer;
/* make sure it's what we are expecting */
if (length > 2) {
switch (*type) {
case F2I_MAGIC:
comms_handle_command(buffer, length);
break;
case F2I_CONFIG_MAGIC:
comms_handle_config(buffer, length);
break;
default:
break;
}
}
frame_bad++;
}