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Build S.BUS and DSM decoders in RC lib

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This commit is contained in:
Lorenz Meier
2015-11-28 09:13:15 +01:00
parent ba4fdf197e
commit d2b154cd07
6 changed files with 144 additions and 38 deletions
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src/lib/rc/dsm.c
+21 -16
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@@ -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;