mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-06 07:40:35 +08:00
Build S.BUS and DSM decoders in RC lib
This commit is contained in:
Lorenz Meier
@@ -37,6 +37,7 @@ px4_add_module(
|
||||
SRCS
|
||||
st24.c
|
||||
sumd.c
|
||||
sbus.c
|
||||
DEPENDS
|
||||
platforms__common
|
||||
)
|
||||
|
||||
+21
-16
@@ -46,9 +46,16 @@
|
||||
#include <unistd.h>
|
||||
#include <termios.h>
|
||||
|
||||
#include "dsm.h"
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#include "px4io.h"
|
||||
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
|
||||
#include <px4io.h>
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
|
||||
#include <px4io.h>
|
||||
#endif
|
||||
|
||||
#define DSM_FRAME_SIZE 16 /**<DSM frame size in bytes*/
|
||||
#define DSM_FRAME_CHANNELS 7 /**<Max supported DSM channels*/
|
||||
@@ -185,18 +192,18 @@ dsm_guess_format(bool reset)
|
||||
|
||||
if ((votes11 == 1) && (votes10 == 0)) {
|
||||
dsm_channel_shift = 11;
|
||||
debug("DSM: 11-bit format");
|
||||
//debug("DSM: 11-bit format");
|
||||
return;
|
||||
}
|
||||
|
||||
if ((votes10 == 1) && (votes11 == 0)) {
|
||||
dsm_channel_shift = 10;
|
||||
debug("DSM: 10-bit format");
|
||||
//debug("DSM: 10-bit format");
|
||||
return;
|
||||
}
|
||||
|
||||
/* call ourselves to reset our state ... we have to try again */
|
||||
debug("DSM: format detect fail, 10: 0x%08x %d 11: 0x%08x %d", cs10, votes10, cs11, votes11);
|
||||
//debug("DSM: format detect fail, 10: 0x%08x %d 11: 0x%08x %d", cs10, votes10, cs11, votes11);
|
||||
dsm_guess_format(true);
|
||||
}
|
||||
|
||||
@@ -237,11 +244,11 @@ dsm_init(const char *device)
|
||||
/* reset the format detector */
|
||||
dsm_guess_format(true);
|
||||
|
||||
debug("DSM: ready");
|
||||
//debug("DSM: ready");
|
||||
|
||||
} else {
|
||||
|
||||
debug("DSM: open failed");
|
||||
//debug("DSM: open failed");
|
||||
|
||||
}
|
||||
|
||||
@@ -257,11 +264,9 @@ dsm_init(const char *device)
|
||||
void
|
||||
dsm_bind(uint16_t cmd, int pulses)
|
||||
{
|
||||
#if !defined(CONFIG_ARCH_BOARD_PX4IO_V1) && !defined(CONFIG_ARCH_BOARD_PX4IO_V2)
|
||||
#if !defined(GPIO_USART1_RX_SPEKTRUM)
|
||||
#warning DSM BIND NOT IMPLEMENTED ON UNKNOWN PLATFORM
|
||||
#else
|
||||
const uint32_t usart1RxAsOutp =
|
||||
GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN10;
|
||||
|
||||
if (dsm_fd < 0) {
|
||||
return;
|
||||
@@ -272,9 +277,9 @@ dsm_bind(uint16_t cmd, int pulses)
|
||||
case dsm_bind_power_down:
|
||||
|
||||
/*power down DSM satellite*/
|
||||
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
|
||||
#if defined(CONFIG_ARCH_BOARD_PX4IO_V1)
|
||||
POWER_RELAY1(0);
|
||||
#else /* CONFIG_ARCH_BOARD_PX4IO_V2 */
|
||||
#elif defined(CONFIG_ARCH_BOARD_PX4IO_V2)
|
||||
POWER_SPEKTRUM(0);
|
||||
#endif
|
||||
break;
|
||||
@@ -282,9 +287,9 @@ dsm_bind(uint16_t cmd, int pulses)
|
||||
case dsm_bind_power_up:
|
||||
|
||||
/*power up DSM satellite*/
|
||||
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
|
||||
#if defined(CONFIG_ARCH_BOARD_PX4IO_V1)
|
||||
POWER_RELAY1(1);
|
||||
#else /* CONFIG_ARCH_BOARD_PX4IO_V2 */
|
||||
#elif defined(CONFIG_ARCH_BOARD_PX4IO_V2)
|
||||
POWER_SPEKTRUM(1);
|
||||
#endif
|
||||
dsm_guess_format(true);
|
||||
@@ -293,7 +298,7 @@ dsm_bind(uint16_t cmd, int pulses)
|
||||
case dsm_bind_set_rx_out:
|
||||
|
||||
/*Set UART RX pin to active output mode*/
|
||||
stm32_configgpio(usart1RxAsOutp);
|
||||
stm32_configgpio(GPIO_USART1_RX_SPEKTRUM);
|
||||
break;
|
||||
|
||||
case dsm_bind_send_pulses:
|
||||
@@ -301,9 +306,9 @@ dsm_bind(uint16_t cmd, int pulses)
|
||||
/*Pulse RX pin a number of times*/
|
||||
for (int i = 0; i < pulses; i++) {
|
||||
up_udelay(120);
|
||||
stm32_gpiowrite(usart1RxAsOutp, false);
|
||||
stm32_gpiowrite(GPIO_USART1_RX_SPEKTRUM, false);
|
||||
up_udelay(120);
|
||||
stm32_gpiowrite(usart1RxAsOutp, true);
|
||||
stm32_gpiowrite(GPIO_USART1_RX_SPEKTRUM, true);
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
@@ -0,0 +1,52 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file dsm.h
|
||||
*
|
||||
* RC protocol definition for Spektrum RC
|
||||
*
|
||||
* @author Lorenz Meier <lorenz@px4.io>
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
__EXPORT int dsm_init(const char *device);
|
||||
__EXPORT bool dsm_input(uint16_t *values, uint16_t *num_values, uint8_t *n_bytes, uint8_t **bytes);
|
||||
__EXPORT void dsm_bind(uint16_t cmd, int pulses);
|
||||
|
||||
__END_DECLS
|
||||
+14
-21
@@ -43,15 +43,9 @@
|
||||
#include <unistd.h>
|
||||
#include <termios.h>
|
||||
|
||||
#include <systemlib/ppm_decode.h>
|
||||
|
||||
#include "sbus.h"
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#define DEBUG
|
||||
#include "px4io.h"
|
||||
#include "protocol.h"
|
||||
#include "debug.h"
|
||||
|
||||
#define SBUS_FRAME_SIZE 25
|
||||
#define SBUS_INPUT_CHANNELS 16
|
||||
#define SBUS_FLAGS_BYTE 23
|
||||
@@ -77,8 +71,6 @@
|
||||
#define SBUS_SCALE_FACTOR ((SBUS_TARGET_MAX - SBUS_TARGET_MIN) / (SBUS_RANGE_MAX - SBUS_RANGE_MIN))
|
||||
#define SBUS_SCALE_OFFSET (int)(SBUS_TARGET_MIN - (SBUS_SCALE_FACTOR * SBUS_RANGE_MIN + 0.5f))
|
||||
|
||||
static int sbus_fd = -1;
|
||||
|
||||
static hrt_abstime last_rx_time;
|
||||
static hrt_abstime last_frame_time;
|
||||
static hrt_abstime last_txframe_time = 0;
|
||||
@@ -93,11 +85,9 @@ static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_
|
||||
bool *sbus_frame_drop, uint16_t max_channels);
|
||||
|
||||
int
|
||||
sbus_init(const char *device)
|
||||
sbus_init(const char *device, bool singlewire)
|
||||
{
|
||||
if (sbus_fd < 0) {
|
||||
sbus_fd = open(device, O_RDWR | O_NONBLOCK);
|
||||
}
|
||||
int sbus_fd = open(device, O_RDWR | O_NONBLOCK);
|
||||
|
||||
if (sbus_fd >= 0) {
|
||||
struct termios t;
|
||||
@@ -108,21 +98,24 @@ sbus_init(const char *device)
|
||||
t.c_cflag |= (CSTOPB | PARENB);
|
||||
tcsetattr(sbus_fd, TCSANOW, &t);
|
||||
|
||||
if (singlewire) {
|
||||
/* only defined in configs capable of IOCTL */
|
||||
#ifdef SBUS_SERIAL_PORT
|
||||
ioctl(uart, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
|
||||
#endif
|
||||
}
|
||||
|
||||
/* initialise the decoder */
|
||||
partial_frame_count = 0;
|
||||
last_rx_time = hrt_absolute_time();
|
||||
|
||||
debug("S.Bus: ready");
|
||||
|
||||
} else {
|
||||
debug("S.Bus: open failed");
|
||||
}
|
||||
|
||||
return sbus_fd;
|
||||
}
|
||||
|
||||
void
|
||||
sbus1_output(uint16_t *values, uint16_t num_values)
|
||||
sbus1_output(int sbus_fd, uint16_t *values, uint16_t num_values)
|
||||
{
|
||||
uint8_t byteindex = 1; /*Data starts one byte into the sbus frame. */
|
||||
uint8_t offset = 0;
|
||||
@@ -161,14 +154,14 @@ sbus1_output(uint16_t *values, uint16_t num_values)
|
||||
}
|
||||
}
|
||||
void
|
||||
sbus2_output(uint16_t *values, uint16_t num_values)
|
||||
sbus2_output(int sbus_fd, uint16_t *values, uint16_t num_values)
|
||||
{
|
||||
char b = 'B';
|
||||
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)
|
||||
sbus_input(int sbus_fd, uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels)
|
||||
{
|
||||
ssize_t ret;
|
||||
hrt_abstime now;
|
||||
@@ -331,7 +324,7 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool
|
||||
}
|
||||
|
||||
/* decode switch channels if data fields are wide enough */
|
||||
if (PX4IO_RC_INPUT_CHANNELS > 17 && chancount > 15) {
|
||||
if (max_values > 17 && chancount > 15) {
|
||||
chancount = 18;
|
||||
|
||||
/* channel 17 (index 16) */
|
||||
|
||||
@@ -0,0 +1,55 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file sbus.h
|
||||
*
|
||||
* RC protocol definition for S.BUS
|
||||
*
|
||||
* @author Lorenz Meier <lorenz@px4.io>
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
__EXPORT int sbus_init(const char *device, bool singlewire);
|
||||
__EXPORT bool sbus_input(int sbus_fd, uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop,
|
||||
uint16_t max_channels);
|
||||
__EXPORT void sbus1_output(int sbus_fd, uint16_t *values, uint16_t num_values);
|
||||
__EXPORT void sbus2_output(int sbus_fd, uint16_t *values, uint16_t num_values);
|
||||
|
||||
__END_DECLS
|
||||
+1
-1
@@ -101,7 +101,7 @@ uint8_t sumd_crc8(uint8_t crc, uint8_t value);
|
||||
__EXPORT int sumd_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_t *channel_count,
|
||||
uint16_t *channels, uint16_t max_chan_count);
|
||||
*/
|
||||
int sumd_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_t *channel_count,
|
||||
__EXPORT int sumd_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_t *channel_count,
|
||||
uint16_t *channels, uint16_t max_chan_count);
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user