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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
parent 896d8a3acd 91c55503a8
commit d1909ca94b
6 changed files with 44 additions and 9 deletions
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nuttx-configs/px4io-v2/include/board.h
-2
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@@ -103,8 +103,6 @@
#define GPIO_USART2_RTS 0xffffffff #define GPIO_USART2_RTS 0xffffffff
#undef GPIO_USART2_CK #undef GPIO_USART2_CK
#define GPIO_USART2_CK 0xffffffff #define GPIO_USART2_CK 0xffffffff
#undef GPIO_USART3_TX
#define GPIO_USART3_TX 0xffffffff
#undef GPIO_USART3_CK #undef GPIO_USART3_CK
#define GPIO_USART3_CK 0xffffffff #define GPIO_USART3_CK 0xffffffff
#undef GPIO_USART3_CTS #undef GPIO_USART3_CTS
nuttx-configs/px4io-v2/nsh/defconfig
+2 -2
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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_JTAG_SW_ENABLE - Set JTAG-DP disabled and SW-DP enabled
# #
CONFIG_STM32_DFU=n 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_NOJNTRST_ENABLE=n
CONFIG_STM32_JTAG_SW_ENABLE=n CONFIG_STM32_JTAG_SW_ENABLE=y
# #
# Individual subsystems can be enabled: # Individual subsystems can be enabled:
src/modules/px4iofirmware/mixer.cpp
+15
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@@ -254,10 +254,25 @@ mixer_tick(void)
for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++)
up_pwm_servo_set(i, r_page_servos[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) { } else if (mixer_servos_armed && should_always_enable_pwm) {
/* set the disarmed servo outputs. */ /* set the disarmed servo outputs. */
for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++)
up_pwm_servo_set(i, r_page_servo_disarmed[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);
} }
} }
src/modules/px4iofirmware/px4io.h
+2
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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 void dsm_bind(uint16_t cmd, int pulses);
extern int sbus_init(const char *device); 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 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() */ /** global debug level for isr_debug() */
extern volatile uint8_t debug_level; extern volatile uint8_t debug_level;
src/modules/px4iofirmware/registers.c
+12 -3
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@@ -463,9 +463,18 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
#ifdef ENABLE_SBUS_OUT #ifdef ENABLE_SBUS_OUT
ENABLE_SBUS_OUT(value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT)); ENABLE_SBUS_OUT(value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT));
/* disable the conflicting options */ /* disable the conflicting options with SBUS 1 */
if (value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT)) { if (value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT)) {
value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI | PX4IO_P_SETUP_FEATURES_ADC_RSSI); 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 #endif
src/modules/px4iofirmware/sbus.c
+13 -2
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@@ -93,7 +93,7 @@ int
sbus_init(const char *device) sbus_init(const char *device)
{ {
if (sbus_fd < 0) if (sbus_fd < 0)
sbus_fd = open(device, O_RDONLY | O_NONBLOCK); sbus_fd = open(device, O_RDWR | O_NONBLOCK);
if (sbus_fd >= 0) { if (sbus_fd >= 0) {
struct termios t; struct termios t;
@@ -113,10 +113,21 @@ sbus_init(const char *device)
} else { } else {
debug("S.Bus: open failed"); debug("S.Bus: open failed");
} }
return sbus_fd; 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 bool
sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels) sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels)
{ {