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Merge branch 'master' into vector_control2

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This commit is contained in:
Anton Babushkin
2013-12-16 12:47:40 +04:00
parent 72aa171ef9 43582cdb68
commit 7cbb4cfdb8
44 changed files with 4116 additions and 1088 deletions
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src/modules/px4iofirmware/controls.c
+17 -4
View File
@@ -94,6 +94,9 @@ controls_tick() {
* other. Don't do that.
*/
/* receive signal strenght indicator (RSSI). 0 = no connection, 1000: perfect connection */
uint16_t rssi = 0;
perf_begin(c_gather_dsm);
uint16_t temp_count = r_raw_rc_count;
bool dsm_updated = dsm_input(r_raw_rc_values, &temp_count);
@@ -104,14 +107,15 @@ controls_tick() {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM11;
else
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RC_DSM11;
rssi = 1000;
}
perf_end(c_gather_dsm);
perf_begin(c_gather_sbus);
bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, PX4IO_CONTROL_CHANNELS /* XXX this should be INPUT channels, once untangled */);
bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &rssi, PX4IO_CONTROL_CHANNELS /* XXX this should be INPUT channels, once untangled */);
if (sbus_updated) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS;
r_raw_rc_count = 8;
}
perf_end(c_gather_sbus);
@@ -122,10 +126,19 @@ controls_tick() {
*/
perf_begin(c_gather_ppm);
bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count);
if (ppm_updated)
if (ppm_updated) {
/* XXX sample RSSI properly here */
rssi = 1000;
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM;
}
perf_end(c_gather_ppm);
/* limit number of channels to allowable data size */
if (r_raw_rc_count > PX4IO_INPUT_CHANNELS)
r_raw_rc_count = PX4IO_INPUT_CHANNELS;
/*
* In some cases we may have received a frame, but input has still
* been lost.
@@ -221,7 +234,7 @@ controls_tick() {
* This might happen if a protocol-based receiver returns an update
* that contains no channels that we have mapped.
*/
if (assigned_channels == 0) {
if (assigned_channels == 0 || rssi == 0) {
rc_input_lost = true;
} else {
/* set RC OK flag */
src/modules/px4iofirmware/protocol.h
+1
View File
@@ -124,6 +124,7 @@
#define PX4IO_P_STATUS_VSERVO 6 /* [2] servo rail voltage in mV */
#define PX4IO_P_STATUS_VRSSI 7 /* [2] RSSI voltage */
#define PX4IO_P_STATUS_PRSSI 8 /* [2] RSSI PWM value */
#define PX4IO_P_STATUS_NRSSI 9 /* [2] Normalized RSSI value, 0: no reception, 1000: perfect reception */
/* array of post-mix actuator outputs, -10000..10000 */
#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */
src/modules/px4iofirmware/px4io.h
+1 -1
View File
@@ -209,7 +209,7 @@ extern int dsm_init(const char *device);
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, uint16_t max_channels);
extern bool sbus_input(uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_channels);
/** global debug level for isr_debug() */
extern volatile uint8_t debug_level;
src/modules/px4iofirmware/registers.c
+1 -1
View File
@@ -114,7 +114,7 @@ uint16_t r_page_servos[PX4IO_SERVO_COUNT];
uint16_t r_page_raw_rc_input[] =
{
[PX4IO_P_RAW_RC_COUNT] = 0,
[PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + PX4IO_CONTROL_CHANNELS)] = 0
[PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + 24)] = 0 // XXX ensure we have enough space to decode beefy RX, will be replaced by patch soon
};
/**
src/modules/px4iofirmware/sbus.c
+48 -17
View File
@@ -54,6 +54,27 @@
#define SBUS_FRAME_SIZE 25
#define SBUS_INPUT_CHANNELS 16
#define SBUS_FLAGS_BYTE 23
#define SBUS_FAILSAFE_BIT 3
#define SBUS_FRAMELOST_BIT 2
/*
Measured values with Futaba FX-30/R6108SB:
-+100% on TX: PCM 1.100/1.520/1.950ms -> SBus raw values: 350/1024/1700 (100% ATV)
-+140% on TX: PCM 0.930/1.520/2.112ms -> SBus raw values: 78/1024/1964 (140% ATV)
-+152% on TX: PCM 0.884/1.520/2.160ms -> SBus raw values: 1/1024/2047 (140% ATV plus dirty tricks)
*/
/* define range mapping here, -+100% -> 1000..2000 */
#define SBUS_RANGE_MIN 200.0f
#define SBUS_RANGE_MAX 1800.0f
#define SBUS_TARGET_MIN 1000.0f
#define SBUS_TARGET_MAX 2000.0f
/* pre-calculate the floating point stuff as far as possible at compile time */
#define SBUS_SCALE_FACTOR ((SBUS_TARGET_MAX - SBUS_TARGET_MIN) / (SBUS_RANGE_MAX - SBUS_RANGE_MIN))
#define SBUS_SCALE_OFFSET (int)(SBUS_TARGET_MIN - (SBUS_SCALE_FACTOR * SBUS_RANGE_MIN + 0.5f))
static int sbus_fd = -1;
@@ -66,7 +87,7 @@ static unsigned partial_frame_count;
unsigned sbus_frame_drops;
static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t max_channels);
static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_channels);
int
sbus_init(const char *device)
@@ -97,7 +118,7 @@ sbus_init(const char *device)
}
bool
sbus_input(uint16_t *values, uint16_t *num_values, uint16_t max_channels)
sbus_input(uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_channels)
{
ssize_t ret;
hrt_abstime now;
@@ -154,7 +175,7 @@ sbus_input(uint16_t *values, uint16_t *num_values, uint16_t max_channels)
* decode it.
*/
partial_frame_count = 0;
return sbus_decode(now, values, num_values, max_channels);
return sbus_decode(now, values, num_values, rssi, max_channels);
}
/*
@@ -194,7 +215,7 @@ static const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3] = {
};
static bool
sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t max_values)
sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_values)
{
/* check frame boundary markers to avoid out-of-sync cases */
if ((frame[0] != 0x0f) || (frame[24] != 0x00)) {
@@ -202,15 +223,6 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint
return false;
}
/* if the failsafe or connection lost bit is set, we consider the frame invalid */
if ((frame[23] & (1 << 2)) && /* signal lost */
(frame[23] & (1 << 3))) { /* failsafe */
/* actively announce signal loss */
*values = 0;
return false;
}
/* we have received something we think is a frame */
last_frame_time = frame_time;
@@ -234,8 +246,9 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint
}
}
/* convert 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */
values[channel] = (value / 2) + 998;
/* convert 0-2048 values to 1000-2000 ppm encoding in a not too sloppy fashion */
values[channel] = (uint16_t)(value * SBUS_SCALE_FACTOR +.5f) + SBUS_SCALE_OFFSET;
}
/* decode switch channels if data fields are wide enough */
@@ -243,13 +256,31 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint
chancount = 18;
/* channel 17 (index 16) */
values[16] = (frame[23] & (1 << 0)) * 1000 + 998;
values[16] = (frame[SBUS_FLAGS_BYTE] & (1 << 0)) * 1000 + 998;
/* channel 18 (index 17) */
values[17] = (frame[23] & (1 << 1)) * 1000 + 998;
values[17] = (frame[SBUS_FLAGS_BYTE] & (1 << 1)) * 1000 + 998;
}
/* note the number of channels decoded */
*num_values = chancount;
/* decode and handle failsafe and frame-lost flags */
if (frame[SBUS_FLAGS_BYTE] & (1 << SBUS_FAILSAFE_BIT)) { /* failsafe */
/* report that we failed to read anything valid off the receiver */
*rssi = 0;
return false;
}
else if (frame[SBUS_FLAGS_BYTE] & (1 << SBUS_FRAMELOST_BIT)) { /* a frame was lost */
/* set a special warning flag or try to calculate some kind of RSSI information - to be implemented
*
* Attention! This flag indicates a skipped frame only, not a total link loss! Handling this
* condition as fail-safe greatly reduces the reliability and range of the radio link,
* e.g. by prematurely issueing return-to-launch!!! */
*rssi = 100; // XXX magic number indicating bad signal, but not a signal loss (yet)
}
*rssi = 1000;
return true;
}