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Compile and link ST24 parser in IO firmware

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This commit is contained in:
Lorenz Meier
2014-09-01 00:45:41 +02:00
parent 5448396579
commit 69109b6227
4 changed files with 174 additions and 24 deletions
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src/modules/px4iofirmware/controls.c
+25 -2
View File
@@ -43,6 +43,7 @@
#include <drivers/drv_hrt.h>
#include <systemlib/perf_counter.h>
#include <systemlib/ppm_decode.h>
#include <rc/st24.h>
#include "px4io.h"
@@ -51,11 +52,21 @@
#define RC_CHANNEL_LOW_THRESH -8000 /* 10% threshold */
static bool ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len);
static bool dsm_port_input(void);
static perf_counter_t c_gather_dsm;
static perf_counter_t c_gather_sbus;
static perf_counter_t c_gather_ppm;
static int _dsm_fd;
bool dsm_port_input()
{
/* get data from FD and attempt to parse with DSM and ST24 libs */
return false;
}
void
controls_init(void)
{
@@ -65,7 +76,7 @@ controls_init(void)
system_state.rc_channels_timestamp_valid = 0;
/* DSM input (USART1) */
dsm_init("/dev/ttyS0");
_dsm_fd = dsm_init("/dev/ttyS0");
/* S.bus input (USART3) */
sbus_init("/dev/ttyS2");
@@ -175,6 +186,18 @@ controls_tick() {
}
perf_end(c_gather_ppm);
uint8_t st24_rssi, rx_count;
uint8_t st24_maxchans = 18;
bool st24_updated = st24_decode(0, &st24_rssi, &rx_count, r_raw_rc_values, st24_maxchans);
if (st24_updated) {
rssi = st24_rssi;
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM;
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
}
/* limit number of channels to allowable data size */
if (r_raw_rc_count > PX4IO_RC_INPUT_CHANNELS)
r_raw_rc_count = PX4IO_RC_INPUT_CHANNELS;
@@ -191,7 +214,7 @@ controls_tick() {
/*
* If we received a new frame from any of the RC sources, process it.
*/
if (dsm_updated || sbus_updated || ppm_updated) {
if (dsm_updated || sbus_updated || ppm_updated || st24_updated) {
/* record a bitmask of channels assigned */
unsigned assigned_channels = 0;
src/modules/px4iofirmware/module.mk
+2 -1
View File
@@ -14,7 +14,8 @@ SRCS = adc.c \
../systemlib/mixer/mixer_group.cpp \
../systemlib/mixer/mixer_multirotor.cpp \
../systemlib/mixer/mixer_simple.cpp \
../systemlib/pwm_limit/pwm_limit.c
../systemlib/pwm_limit/pwm_limit.c \
../../lib/rc/st24.c
ifeq ($(BOARD),px4io-v1)
SRCS += i2c.c