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Fix DSM pairing error handling.

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This commit is contained in:
Lorenz Meier
2014-02-18 10:37:32 +01:00
parent 603069f169
commit a91b68d8a5
1 changed files with 20 additions and 10 deletions
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src/drivers/px4io/px4io.cpp
+20 -10
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@@ -2112,14 +2112,24 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
break;
case DSM_BIND_START:
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
usleep(500000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
usleep(72000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (arg << 4));
usleep(50000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
/* only allow DSM2, DSM-X and DSM-X with more than 7 channels */
if (arg == DSM2_BIND_PULSES ||
arg == DSMX_BIND_PULSES ||
arg == DSMX8_BIND_PULSES) {
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
usleep(500000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
usleep(72000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (arg << 4));
usleep(50000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
ret = OK;
} else {
ret = -EINVAL;
}
break;
case DSM_BIND_POWER_UP:
@@ -2612,7 +2622,7 @@ bind(int argc, char *argv[])
#endif
if (argc < 3)
errx(0, "needs argument, use dsm2 or dsmx");
errx(0, "needs argument, use dsm2, dsmx or dsmx8");
if (!strcmp(argv[2], "dsm2"))
pulses = DSM2_BIND_PULSES;
@@ -2621,7 +2631,7 @@ bind(int argc, char *argv[])
else if (!strcmp(argv[2], "dsmx8"))
pulses = DSMX8_BIND_PULSES;
else
errx(1, "unknown parameter %s, use dsm2 or dsmx", argv[2]);
errx(1, "unknown parameter %s, use dsm2, dsmx or dsmx8", argv[2]);
// Test for custom pulse parameter
if (argc > 3)
pulses = atoi(argv[3]);