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Merge pull request #878 from PX4/sbus_out

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S.BUS output
This commit is contained in:
Lorenz Meier 2014-05-05 08:04:28 -07:00
commit d1909ca94b
6 changed files with 44 additions and 9 deletions
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2
nuttx-configs/px4io-v2/include/board.h
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@ -103,8 +103,6 @@
#define GPIO_USART2_RTS 0xffffffff
#undef GPIO_USART2_CK
#define GPIO_USART2_CK 0xffffffff
#undef GPIO_USART3_TX
#define GPIO_USART3_TX 0xffffffff
#undef GPIO_USART3_CK
#define GPIO_USART3_CK 0xffffffff
#undef GPIO_USART3_CTS

4
nuttx-configs/px4io-v2/nsh/defconfig
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@ -104,9 +104,9 @@ CONFIG_ARMV7M_CMNVECTOR=y
# CONFIG_STM32_JTAG_SW_ENABLE - Set JTAG-DP disabled and SW-DP enabled
#
CONFIG_STM32_DFU=n
CONFIG_STM32_JTAG_FULL_ENABLE=y
CONFIG_STM32_JTAG_FULL_ENABLE=n
CONFIG_STM32_JTAG_NOJNTRST_ENABLE=n
CONFIG_STM32_JTAG_SW_ENABLE=n
CONFIG_STM32_JTAG_SW_ENABLE=y
#
# Individual subsystems can be enabled:

15
src/modules/px4iofirmware/mixer.cpp
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@ -254,10 +254,25 @@ mixer_tick(void)
for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++)
up_pwm_servo_set(i, r_page_servos[i]);
/* set S.BUS1 or S.BUS2 outputs */
if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) {
sbus2_output(r_page_servos, PX4IO_SERVO_COUNT);
} else if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) {
sbus1_output(r_page_servos, PX4IO_SERVO_COUNT);
}
} else if (mixer_servos_armed && should_always_enable_pwm) {
/* set the disarmed servo outputs. */
for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++)
up_pwm_servo_set(i, r_page_servo_disarmed[i]);
/* set S.BUS1 or S.BUS2 outputs */
if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT)
sbus1_output(r_page_servos, PX4IO_SERVO_COUNT);
if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT)
sbus2_output(r_page_servos, PX4IO_SERVO_COUNT);
}
}

2
src/modules/px4iofirmware/px4io.h
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@ -219,6 +219,8 @@ 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, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels);
extern bool sbus1_output(uint16_t *values, uint16_t num_values);
extern bool sbus2_output(uint16_t *values, uint16_t num_values);
/** global debug level for isr_debug() */
extern volatile uint8_t debug_level;

15
src/modules/px4iofirmware/registers.c
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@ -463,9 +463,18 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
#ifdef ENABLE_SBUS_OUT
ENABLE_SBUS_OUT(value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT));
/* disable the conflicting options */
if (value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT)) {
value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI | PX4IO_P_SETUP_FEATURES_ADC_RSSI);
/* disable the conflicting options with SBUS 1 */
if (value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT)) {
value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI |
PX4IO_P_SETUP_FEATURES_ADC_RSSI |
PX4IO_P_SETUP_FEATURES_SBUS2_OUT);
}
/* disable the conflicting options with SBUS 2 */
if (value & (PX4IO_P_SETUP_FEATURES_SBUS2_OUT)) {
value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI |
PX4IO_P_SETUP_FEATURES_ADC_RSSI |
PX4IO_P_SETUP_FEATURES_SBUS1_OUT);
}
#endif

15
src/modules/px4iofirmware/sbus.c
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@ -93,7 +93,7 @@ int
sbus_init(const char *device)
{
if (sbus_fd < 0)
sbus_fd = open(device, O_RDONLY | O_NONBLOCK);
sbus_fd = open(device, O_RDWR | O_NONBLOCK);
if (sbus_fd >= 0) {
struct termios t;
@ -113,10 +113,21 @@ sbus_init(const char *device)
} else {
debug("S.Bus: open failed");
}
return sbus_fd;
}
bool
sbus1_output(uint16_t *values, uint16_t num_values)
{
write(sbus_fd, 'A', 1);
}
bool
sbus2_output(uint16_t *values, uint16_t num_values)
{
write(sbus_fd, 'B', 1);
}
bool
sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels)
{