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add macro to control RC input inverter

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remove redundant variable
This commit is contained in:
Mark Whitehorn
2016-01-14 17:55:53 +01:00
committed by Lorenz Meier
parent 71a3e3713c
commit 72156d9cd6
2 changed files with 24 additions and 25 deletions
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src/drivers/boards/px4fmu-v4/board_config.h
+2
View File
@@ -228,8 +228,10 @@ __BEGIN_DECLS
#define GPIO_PERIPH_3V3_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
/* for R07, this signal is active low */
#define GPIO_SBUS_INV (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
#define INVERT_RC_INPUT(_s) stm32_gpiowrite(GPIO_SBUS_INV, 1-_s);
/* for R12, this signal is active high */
//#define GPIO_SBUS_INV (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
//#define INVERT_RC_INPUT(_s) stm32_gpiowrite(GPIO_SBUS_INV, _s);
#define GPIO_8266_GPIO0 (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN2)
#define GPIO_SPEKTRUM_PWR_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
src/drivers/px4fmu/fmu.cpp
+22 -25
View File
@@ -209,8 +209,8 @@ private:
PX4FMU operator=(const PX4FMU &);
void fill_rc_in(uint16_t raw_rc_count,
uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS],
hrt_abstime now, bool sbus_frame_drop, bool sbus_failsafe,
unsigned sbus_frame_drops);
hrt_abstime now, bool frame_drop, bool failsafe,
unsigned frame_drops, int rssi);
};
const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = {
@@ -626,8 +626,8 @@ PX4FMU::cycle_trampoline(void *arg)
void PX4FMU::fill_rc_in(uint16_t raw_rc_count,
uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS],
hrt_abstime now, bool sbus_frame_drop, bool sbus_failsafe,
unsigned sbus_frame_drops)
hrt_abstime now, bool frame_drop, bool failsafe,
unsigned frame_drops, int rssi = -1)
{
// fill rc_in struct for publishing
_rc_in.channel_count = raw_rc_count;
@@ -643,11 +643,15 @@ void PX4FMU::fill_rc_in(uint16_t raw_rc_count,
_rc_in.timestamp_publication = now;
_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 : (RC_INPUT_RSSI_MAX / 2);
_rc_in.rc_failsafe = sbus_failsafe;
if (rssi == -1) {
_rc_in.rssi =
(!frame_drop) ? RC_INPUT_RSSI_MAX : (RC_INPUT_RSSI_MAX / 2);
}
_rc_in.rc_failsafe = failsafe;
_rc_in.rc_lost = false;
_rc_in.rc_lost_frame_count = sbus_frame_drops;
_rc_in.rc_lost_frame_count = frame_drops;
_rc_in.rc_total_frame_count = 0;
}
@@ -860,8 +864,7 @@ PX4FMU::cycle()
bool sbus_failsafe, sbus_frame_drop;
uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS];
uint16_t raw_rc_count;
unsigned sbus_frame_drops;
unsigned dsm_frame_drops;
unsigned frame_drops;
bool dsm_11_bit;
@@ -878,11 +881,9 @@ PX4FMU::cycle()
case RC_SCAN_SBUS:
if (rc_scan_begin == 0) {
rc_scan_begin = now;
// // Configure serial port for SBUS
// Configure serial port for SBUS
sbus_config(_rcs_fd, false);
// /* for PixRacer R07, this signal is active low */
// /* for PixRacer R12, this signal is active high */
stm32_gpiowrite(GPIO_SBUS_INV, 0);
INVERT_RC_INPUT(true);
} else if (now - rc_scan_last_lock < rc_scan_max
|| now - rc_scan_begin < rc_scan_max) {
@@ -890,12 +891,12 @@ PX4FMU::cycle()
// parse new data
if (newBytes > 0) {
rc_updated = sbus_parse(now, &_rcs_buf[0], newBytes, &raw_rc_values[0], &raw_rc_count, &sbus_failsafe,
&sbus_frame_drop, &sbus_frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS);
&sbus_frame_drop, &frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS);
if (rc_updated) {
// we have a new SBUS frame. Publish it.
fill_rc_in(raw_rc_count, raw_rc_values, now,
sbus_frame_drop, sbus_failsafe, sbus_frame_drops);
sbus_frame_drop, sbus_failsafe, frame_drops);
rc_scan_last_lock = now;
rc_scan_locked = true;
}
@@ -915,9 +916,7 @@ PX4FMU::cycle()
rc_scan_begin = now;
// // Configure serial port for DSM
dsm_config(_rcs_fd);
// /* for PixRacer R07, this signal is active low */
// /* for PixRacer R12, this signal is active high */
stm32_gpiowrite(GPIO_SBUS_INV, 1);
INVERT_RC_INPUT(false);
} else if (now - rc_scan_last_lock < rc_scan_max
|| now - rc_scan_begin < rc_scan_max) {
@@ -925,12 +924,12 @@ PX4FMU::cycle()
if (newBytes > 0) {
// parse new data
rc_updated = dsm_parse(now, &_rcs_buf[0], newBytes, &raw_rc_values[0], &raw_rc_count,
&dsm_11_bit, &dsm_frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS);
&dsm_11_bit, &frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS);
if (rc_updated) {
// we have a new DSM frame. Publish it.
fill_rc_in(raw_rc_count, raw_rc_values, now,
false, false, dsm_frame_drops);
false, false, frame_drops);
rc_scan_last_lock = now;
rc_scan_locked = true;
}
@@ -950,9 +949,7 @@ PX4FMU::cycle()
rc_scan_begin = now;
// // Configure serial port for DSM
dsm_config(_rcs_fd);
// /* for PixRacer R07, this signal is active low */
// /* for PixRacer R12, this signal is active high */
stm32_gpiowrite(GPIO_SBUS_INV, 1);
INVERT_RC_INPUT(false);
} else if (now - rc_scan_last_lock < rc_scan_max
|| now - rc_scan_begin < rc_scan_max) {
@@ -973,7 +970,7 @@ PX4FMU::cycle()
if (rc_updated) {
// we have a new ST24 frame. Publish it.
fill_rc_in(raw_rc_count, raw_rc_values, now,
false, false, dsm_frame_drops);
false, false, frame_drops, st24_rssi);
rc_scan_last_lock = now;
rc_scan_locked = true;
}