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Fixed drivers

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This commit is contained in:
Lorenz Meier
2015-11-26 20:28:01 +01:00
parent 5500ad16d8
commit 6bc6eda295
3 changed files with 53 additions and 2 deletions
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src/drivers/boards/px4fmu-v4/board_config.h
+2
View File
@@ -214,6 +214,8 @@ __BEGIN_DECLS
#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 2 */
#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
#define SBUS_SERIAL_PORT "/dev/ttyS4" /* XXX not vetted */
/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
#define PWMIN_TIMER 4
#define PWMIN_TIMER_CHANNEL 2
src/drivers/px4fmu/fmu.cpp
+50 -1
View File
@@ -71,6 +71,11 @@
#include <drivers/drv_mixer.h>
#include <drivers/drv_rc_input.h>
#include <lib/rc/sbus.h>
#include <lib/rc/dsm.h>
#include <lib/rc/st24.h>
#include <lib/rc/sumd.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
@@ -799,6 +804,45 @@ PX4FMU::cycle()
update_pwm_rev_mask();
}
bool rc_updated = false;
#ifdef SBUS_SERIAL_PORT
bool sbus_failsafe, sbus_frame_drop;
uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS];
uint16_t raw_rc_count;
bool sbus_updated = sbus_input(_sbus_fd, &raw_rc_values[0], &raw_rc_count, &sbus_failsafe, &sbus_frame_drop,
input_rc_s::RC_INPUT_MAX_CHANNELS);
if (sbus_updated) {
// we have a new PPM frame. Publish it.
_rc_in.channel_count = raw_rc_count;
if (_rc_in.channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
_rc_in.channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
}
for (uint8_t i = 0; i < _rc_in.channel_count; i++) {
_rc_in.values[i] = raw_rc_values[i];
}
_rc_in.timestamp_publication = hrt_absolute_time();
_rc_in.timestamp_last_signal = _rc_in.timestamp_publication;
_rc_in.rc_ppm_frame_length = 0;
_rc_in.rssi = (!sbus_frame_drop) ? RC_INPUT_RSSI_MAX : 0;
_rc_in.rc_failsafe = false;
_rc_in.rc_lost = false;
_rc_in.rc_lost_frame_count = 0;
_rc_in.rc_total_frame_count = 0;
rc_updated = true;
}
#endif
#ifdef DSM_SERIAL_PORT
//_dsm_fd = dsm_init(DSM_SERIAL_PORT);
#endif
#ifdef HRT_PPM_CHANNEL
// see if we have new PPM input data
@@ -824,6 +868,12 @@ PX4FMU::cycle()
_rc_in.rc_lost_frame_count = 0;
_rc_in.rc_total_frame_count = 0;
rc_updated = true;
}
#endif
if (rc_updated) {
/* lazily advertise on first publication */
if (_to_input_rc == nullptr) {
_to_input_rc = orb_advertise(ORB_ID(input_rc), &_rc_in);
@@ -833,7 +883,6 @@ PX4FMU::cycle()
}
}
#endif
work_queue(HPWORK, &_work, (worker_t)&PX4FMU::cycle_trampoline, this, USEC2TICK(CONTROL_INPUT_DROP_LIMIT_MS * 1000));
}
src/modules/px4iofirmware/controls.c
+1 -1
View File
@@ -77,7 +77,7 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool
uint16_t temp_count = r_raw_rc_count;
uint8_t n_bytes = 0;
uint8_t *bytes;
*dsm_updated = dsm_input(r_raw_rc_values, &temp_count, &n_bytes, &bytes);
*dsm_updated = dsm_input(r_raw_rc_values, &temp_count, &n_bytes, &bytes, PX4IO_RC_INPUT_CHANNELS);
if (*dsm_updated) {
r_raw_rc_count = temp_count & 0x7fff;