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Fix RC

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This commit is contained in:
Lorenz Meier
2015-11-28 09:13:15 +01:00
parent bb2d3a36b7
commit 5500ad16d8
3 changed files with 10 additions and 7 deletions
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src/lib/rc/CMakeLists.txt
+1
View File
@@ -38,6 +38,7 @@ px4_add_module(
st24.c
sumd.c
sbus.c
dsm.c
DEPENDS
platforms__common
)
src/lib/rc/dsm.c
+8 -6
View File
@@ -68,6 +68,9 @@ static unsigned dsm_partial_frame_count; /**< Count of bytes received for curren
static unsigned dsm_channel_shift; /**< Channel resolution, 0=unknown, 1=10 bit, 2=11 bit */
static unsigned dsm_frame_drops; /**< Count of incomplete DSM frames */
static bool
dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, unsigned max_values);
/**
* Attempt to decode a single channel raw channel datum
*
@@ -265,7 +268,6 @@ void
dsm_bind(uint16_t cmd, int pulses)
{
#if !defined(GPIO_USART1_RX_SPEKTRUM)
#warning DSM BIND NOT IMPLEMENTED ON UNKNOWN PLATFORM
#else
if (dsm_fd < 0) {
@@ -332,8 +334,8 @@ dsm_bind(uint16_t cmd, int pulses)
* @param[out] num_values pointer to number of raw channel values returned
* @return true=DSM frame successfully decoded, false=no update
*/
static bool
dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
bool
dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, unsigned max_values)
{
/*
debug("DSM dsm_frame %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x",
@@ -379,7 +381,7 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
}
/* ignore channels out of range */
if (channel >= PX4IO_RC_INPUT_CHANNELS) {
if (channel >= max_values) {
continue;
}
@@ -478,7 +480,7 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
* @return true=decoded raw channel values updated, false=no update
*/
bool
dsm_input(uint16_t *values, uint16_t *num_values, uint8_t *n_bytes, uint8_t **bytes)
dsm_input(uint16_t *values, uint16_t *num_values, uint8_t *n_bytes, uint8_t **bytes, unsigned max_values)
{
ssize_t ret;
hrt_abstime now;
@@ -528,5 +530,5 @@ dsm_input(uint16_t *values, uint16_t *num_values, uint8_t *n_bytes, uint8_t **by
* decode it.
*/
dsm_partial_frame_count = 0;
return dsm_decode(now, values, num_values);
return dsm_decode(now, values, num_values, max_values);
}
src/lib/rc/dsm.h
+1 -1
View File
@@ -46,7 +46,7 @@
__BEGIN_DECLS
__EXPORT int dsm_init(const char *device);
__EXPORT bool dsm_input(uint16_t *values, uint16_t *num_values, uint8_t *n_bytes, uint8_t **bytes);
__EXPORT bool dsm_input(uint16_t *values, uint16_t *num_values, uint8_t *n_bytes, uint8_t **bytes, unsigned max_values);
__EXPORT void dsm_bind(uint16_t cmd, int pulses);
__END_DECLS