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spektrum_rc: make it compile

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This commit is contained in:
Julian Oes 2016-12-04 17:23:40 +01:00 committed by Lorenz Meier
parent c14f1fbaec
commit c0fcffae76
2 changed files with 83 additions and 7 deletions
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3
cmake/configs/qurt_sdflight_default.cmake
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@ -69,9 +69,10 @@ set(config_module_list
#
drivers/gps
#drivers/pwm_out_rc_in
platforms/posix/drivers/df_spektrum_rc
drivers/qshell/qurt
drivers/snapdragon_pwm_out
#
# Libraries
#

87
src/platforms/posix/drivers/df_spektrum_rc/df_spektrum_rc.cpp
View File

@ -51,8 +51,12 @@
#include <lib/rc/dsm.h>
#include <drivers/drv_rc_input.h>
#include <drivers/drv_hrt.h>
#define SPEKTRUM_UART_DEVICE_PATH /dev/serialABC
#include <uORB/topics/input_rc.h>
#define SPEKTRUM_UART_DEVICE_PATH "/dev/serialABC"
#define SBUS_BUFFER_SIZE 128
extern "C" { __EXPORT int df_spektrum_rc_main(int argc, char *argv[]); }
@ -63,17 +67,24 @@ volatile bool _task_should_exit = false; // flag indicating if bebop esc control
static bool _is_running = false; // flag indicating if bebop esc app is running
static px4_task_t _task_handle = -1; // handle to the task main thread
input_rc_s _rc_in;
float _analog_rc_rssi_volt;
bool _analog_rc_rssi_stable;
int start();
int stop();
int info();
void usage();
void task_main(int argc, char *argv[]);
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 frame_drop, bool failsafe,
unsigned frame_drops, int rssi = -1);
void task_main(int argc, char *argv[])
{
// publications
orb_advert_t rc_pub = nullptr;
int rc_orb_class_instance = -1;
uint8_t _rcs_buf[50];
// important to keep these buffers out of the stack
@ -117,15 +128,17 @@ void task_main(int argc, char *argv[])
if (newbytes > 0) {
hrt_abstime now = hrt_absolute_time();
// parse new data
rc_updated = dsm_parse(_cycle_timestamp, &_rcs_buf[0], newbytes, &raw_rc_values[0], &raw_rc_count,
&dsm_11_bit, &frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS);
bool rc_updated = dsm_parse(now, &_rcs_buf[0], newbytes, &raw_rc_values[0], &raw_rc_count,
&dsm_11_bit, &frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS);
if (rc_updated) {
// we have a new DSM frame. Publish it.
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_DSM;
fill_rc_in(raw_rc_count, raw_rc_values, _cycle_timestamp,
fill_rc_in(raw_rc_count, raw_rc_values, now,
false, false, frame_drops);
if (rc_pub == nullptr) {
@ -139,12 +152,74 @@ void task_main(int argc, char *argv[])
}
}
orb_deadvertise(_rc_pub);
orb_unadvertise(rc_pub);
_is_running = false;
}
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 frame_drop, bool failsafe,
unsigned frame_drops, int rssi)
{
// fill rc_in struct for publishing
_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;
}
unsigned valid_chans = 0;
for (unsigned i = 0; i < _rc_in.channel_count; i++) {
_rc_in.values[i] = raw_rc_values[i];
if (raw_rc_values[i] != UINT16_MAX) {
valid_chans++;
}
}
_rc_in.timestamp = now;
_rc_in.timestamp_last_signal = _rc_in.timestamp;
_rc_in.rc_ppm_frame_length = 0;
/* fake rssi if no value was provided */
if (rssi == -1) {
/* set RSSI if analog RSSI input is present */
if (_analog_rc_rssi_stable) {
float rssi_analog = ((_analog_rc_rssi_volt - 0.2f) / 3.0f) * 100.0f;
if (rssi_analog > 100.0f) {
rssi_analog = 100.0f;
}
if (rssi_analog < 0.0f) {
rssi_analog = 0.0f;
}
_rc_in.rssi = rssi_analog;
} else {
_rc_in.rssi = 255;
}
} else {
_rc_in.rssi = rssi;
}
if (valid_chans == 0) {
_rc_in.rssi = 0;
}
_rc_in.rc_failsafe = failsafe;
_rc_in.rc_lost = (valid_chans == 0);
_rc_in.rc_lost_frame_count = frame_drops;
_rc_in.rc_total_frame_count = 0;
}
int start()
{
// Start the task to handle RC