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Lorenz Meier
2013-12-27 21:12:51 +01:00
parent c191597625 dd5549da46
commit cddbb0d23f
15 changed files with 179 additions and 69 deletions
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src/modules/px4iofirmware/controls.c
+10 -6
View File
@@ -50,7 +50,7 @@
#define RC_CHANNEL_HIGH_THRESH 5000
#define RC_CHANNEL_LOW_THRESH -5000
static bool ppm_input(uint16_t *values, uint16_t *num_values);
static bool ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len);
static perf_counter_t c_gather_dsm;
static perf_counter_t c_gather_sbus;
@@ -94,7 +94,7 @@ controls_tick() {
* other. Don't do that.
*/
/* receive signal strenght indicator (RSSI). 0 = no connection, 1000: perfect connection */
/* receive signal strenght indicator (RSSI). 0 = no connection, 255: perfect connection */
uint16_t rssi = 0;
perf_begin(c_gather_dsm);
@@ -108,7 +108,7 @@ controls_tick() {
else
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RC_DSM11;
rssi = 1000;
rssi = 255;
}
perf_end(c_gather_dsm);
@@ -125,11 +125,11 @@ controls_tick() {
* disable the PPM decoder completely if we have S.bus signal.
*/
perf_begin(c_gather_ppm);
bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count);
bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count, &r_page_status[PX4IO_P_STATUS_RC_DATA]);
if (ppm_updated) {
/* XXX sample RSSI properly here */
rssi = 1000;
rssi = 255;
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM;
}
@@ -321,7 +321,7 @@ controls_tick() {
}
static bool
ppm_input(uint16_t *values, uint16_t *num_values)
ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len)
{
bool result = false;
@@ -345,6 +345,10 @@ ppm_input(uint16_t *values, uint16_t *num_values)
/* clear validity */
ppm_last_valid_decode = 0;
/* store PPM frame length */
if (num_values)
*frame_len = ppm_frame_length;
/* good if we got any channels */
result = (*num_values > 0);
}
src/modules/px4iofirmware/protocol.h
+2 -1
View File
@@ -128,7 +128,8 @@
#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 */
#define PX4IO_P_STATUS_NRSSI 9 /* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */
#define PX4IO_P_STATUS_RC_DATA 10 /* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */
/* array of post-mix actuator outputs, -10000..10000 */
#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */
src/modules/px4iofirmware/registers.c
+3 -1
View File
@@ -89,7 +89,9 @@ uint16_t r_page_status[] = {
[PX4IO_P_STATUS_IBATT] = 0,
[PX4IO_P_STATUS_VSERVO] = 0,
[PX4IO_P_STATUS_VRSSI] = 0,
[PX4IO_P_STATUS_PRSSI] = 0
[PX4IO_P_STATUS_PRSSI] = 0,
[PX4IO_P_STATUS_NRSSI] = 0,
[PX4IO_P_STATUS_RC_DATA] = 0
};
/**
src/modules/px4iofirmware/sbus.c
+1 -1
View File
@@ -280,7 +280,7 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint
*rssi = 100; // XXX magic number indicating bad signal, but not a signal loss (yet)
}
*rssi = 1000;
*rssi = 255;
return true;
}