fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-23 09:47:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Build test code for S.BUS output, send test characters once S.BUS1 or S.BUS2 is enabled

Browse Source
This commit is contained in:
Lorenz Meier
2014-02-12 08:13:53 +01:00
parent 9315796020
commit 500ac69ee4
3 changed files with 29 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/px4iofirmware/mixer.cpp
+14
View File
@@ -254,10 +254,24 @@ mixer_tick(void)
for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++)
up_pwm_servo_set(i, r_page_servos[i]);
/* set S.BUS1 or S.BUS2 outputs */
if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT)
sbus1_output(r_page_servos, PX4IO_SERVO_COUNT);
if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT)
sbus2_output(r_page_servos, PX4IO_SERVO_COUNT);
} else if (mixer_servos_armed && should_always_enable_pwm) {
/* set the disarmed servo outputs. */
for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++)
up_pwm_servo_set(i, r_page_servo_disarmed[i]);
/* set S.BUS1 or S.BUS2 outputs */
if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT)
sbus1_output(r_page_servos, PX4IO_SERVO_COUNT);
if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT)
sbus2_output(r_page_servos, PX4IO_SERVO_COUNT);
}
}
src/modules/px4iofirmware/px4io.h
+2
View File
@@ -218,6 +218,8 @@ extern bool dsm_input(uint16_t *values, uint16_t *num_values);
extern void dsm_bind(uint16_t cmd, int pulses);
extern int sbus_init(const char *device);
extern bool sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels);
extern bool sbus1_output(uint16_t *values, uint16_t num_values);
extern bool sbus2_output(uint16_t *values, uint16_t num_values);
/** global debug level for isr_debug() */
extern volatile uint8_t debug_level;
src/modules/px4iofirmware/sbus.c
+13 -1
View File
@@ -93,7 +93,7 @@ int
sbus_init(const char *device)
{
if (sbus_fd < 0)
sbus_fd = open(device, O_RDONLY | O_NONBLOCK);
sbus_fd = open(device, O_RDWR | O_NONBLOCK);
if (sbus_fd >= 0) {
struct termios t;
@@ -117,6 +117,18 @@ sbus_init(const char *device)
return sbus_fd;
}
bool
sbus1_output(uint16_t *values, uint16_t num_values)
{
write(sbus_fd, 'A', 1);
}
bool
sbus2_output(uint16_t *values, uint16_t num_values)
{
write(sbus_fd, 'B', 1);
}
bool
sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels)
{