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px4dev
2012-12-29 16:01:24 -08:00
parent f9520ee39d
commit d81edb09cf
12 changed files with 129 additions and 77 deletions
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apps/px4io/sbus.c
+27 -23
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@@ -88,6 +88,7 @@ sbus_init(const char *device)
last_rx_time = hrt_absolute_time();
debug("Sbus: ready");
} else {
debug("Sbus: open failed");
}
@@ -109,7 +110,7 @@ sbus_input(void)
* frame transmission time is ~2ms.
*
* We expect to only be called when bytes arrive for processing,
* and if an interval of more than 3ms passes between calls,
* and if an interval of more than 3ms passes between calls,
* the first byte we read will be the first byte of a frame.
*
* In the case where byte(s) are dropped from a frame, this also
@@ -117,6 +118,7 @@ sbus_input(void)
* if we didn't drop bytes...
*/
now = hrt_absolute_time();
if ((now - last_rx_time) > 3000) {
if (partial_frame_count > 0) {
sbus_frame_drops++;
@@ -133,6 +135,7 @@ sbus_input(void)
/* if the read failed for any reason, just give up here */
if (ret < 1)
goto out;
last_rx_time = now;
/*
@@ -144,7 +147,7 @@ sbus_input(void)
* If we don't have a full frame, return
*/
if (partial_frame_count < SBUS_FRAME_SIZE)
goto out;
goto out;
/*
* Great, it looks like we might have a frame. Go ahead and
@@ -155,7 +158,7 @@ sbus_input(void)
out:
/*
* If we have seen a frame in the last 200ms, we consider ourselves 'locked'
* If we have seen a frame in the last 200ms, we consider ourselves 'locked'
*/
return (now - last_frame_time) < 200000;
}
@@ -177,23 +180,23 @@ struct sbus_bit_pick {
uint8_t mask;
uint8_t lshift;
};
static const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3] = {
/* 0 */ { { 0, 0, 0xff, 0},{ 1, 0, 0x07, 8},{ 0, 0, 0x00, 0} },
/* 1 */ { { 1, 3, 0x1f, 0},{ 2, 0, 0x3f, 5},{ 0, 0, 0x00, 0} },
/* 2 */ { { 2, 6, 0x03, 0},{ 3, 0, 0xff, 2},{ 4, 0, 0x01, 10} },
/* 3 */ { { 4, 1, 0x7f, 0},{ 5, 0, 0x0f, 7},{ 0, 0, 0x00, 0} },
/* 4 */ { { 5, 4, 0x0f, 0},{ 6, 0, 0x7f, 4},{ 0, 0, 0x00, 0} },
/* 5 */ { { 6, 7, 0x01, 0},{ 7, 0, 0xff, 1},{ 8, 0, 0x03, 9} },
/* 6 */ { { 8, 2, 0x3f, 0},{ 9, 0, 0x1f, 6},{ 0, 0, 0x00, 0} },
/* 7 */ { { 9, 5, 0x07, 0},{10, 0, 0xff, 3},{ 0, 0, 0x00, 0} },
/* 8 */ { {11, 0, 0xff, 0},{12, 0, 0x07, 8},{ 0, 0, 0x00, 0} },
/* 9 */ { {12, 3, 0x1f, 0},{13, 0, 0x3f, 5},{ 0, 0, 0x00, 0} },
/* 10 */ { {13, 6, 0x03, 0},{14, 0, 0xff, 2},{15, 0, 0x01, 10} },
/* 11 */ { {15, 1, 0x7f, 0},{16, 0, 0x0f, 7},{ 0, 0, 0x00, 0} },
/* 12 */ { {16, 4, 0x0f, 0},{17, 0, 0x7f, 4},{ 0, 0, 0x00, 0} },
/* 13 */ { {17, 7, 0x01, 0},{18, 0, 0xff, 1},{19, 0, 0x03, 9} },
/* 14 */ { {19, 2, 0x3f, 0},{20, 0, 0x1f, 6},{ 0, 0, 0x00, 0} },
/* 15 */ { {20, 5, 0x07, 0},{21, 0, 0xff, 3},{ 0, 0, 0x00, 0} }
static const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3] = {
/* 0 */ { { 0, 0, 0xff, 0}, { 1, 0, 0x07, 8}, { 0, 0, 0x00, 0} },
/* 1 */ { { 1, 3, 0x1f, 0}, { 2, 0, 0x3f, 5}, { 0, 0, 0x00, 0} },
/* 2 */ { { 2, 6, 0x03, 0}, { 3, 0, 0xff, 2}, { 4, 0, 0x01, 10} },
/* 3 */ { { 4, 1, 0x7f, 0}, { 5, 0, 0x0f, 7}, { 0, 0, 0x00, 0} },
/* 4 */ { { 5, 4, 0x0f, 0}, { 6, 0, 0x7f, 4}, { 0, 0, 0x00, 0} },
/* 5 */ { { 6, 7, 0x01, 0}, { 7, 0, 0xff, 1}, { 8, 0, 0x03, 9} },
/* 6 */ { { 8, 2, 0x3f, 0}, { 9, 0, 0x1f, 6}, { 0, 0, 0x00, 0} },
/* 7 */ { { 9, 5, 0x07, 0}, {10, 0, 0xff, 3}, { 0, 0, 0x00, 0} },
/* 8 */ { {11, 0, 0xff, 0}, {12, 0, 0x07, 8}, { 0, 0, 0x00, 0} },
/* 9 */ { {12, 3, 0x1f, 0}, {13, 0, 0x3f, 5}, { 0, 0, 0x00, 0} },
/* 10 */ { {13, 6, 0x03, 0}, {14, 0, 0xff, 2}, {15, 0, 0x01, 10} },
/* 11 */ { {15, 1, 0x7f, 0}, {16, 0, 0x0f, 7}, { 0, 0, 0x00, 0} },
/* 12 */ { {16, 4, 0x0f, 0}, {17, 0, 0x7f, 4}, { 0, 0, 0x00, 0} },
/* 13 */ { {17, 7, 0x01, 0}, {18, 0, 0xff, 1}, {19, 0, 0x03, 9} },
/* 14 */ { {19, 2, 0x3f, 0}, {20, 0, 0x1f, 6}, { 0, 0, 0x00, 0} },
/* 15 */ { {20, 5, 0x07, 0}, {21, 0, 0xff, 3}, { 0, 0, 0x00, 0} }
};
static void
@@ -213,8 +216,8 @@ sbus_decode(hrt_abstime frame_time)
/* we have received something we think is a frame */
last_frame_time = frame_time;
unsigned chancount = (PX4IO_INPUT_CHANNELS > SBUS_INPUT_CHANNELS) ?
SBUS_INPUT_CHANNELS : PX4IO_INPUT_CHANNELS;
unsigned chancount = (PX4IO_INPUT_CHANNELS > SBUS_INPUT_CHANNELS) ?
SBUS_INPUT_CHANNELS : PX4IO_INPUT_CHANNELS;
/* use the decoder matrix to extract channel data */
for (unsigned channel = 0; channel < chancount; channel++) {
@@ -232,6 +235,7 @@ sbus_decode(hrt_abstime frame_time)
value |= piece;
}
}
/* convert 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */
system_state.rc_channel_data[channel] = (value / 2) + 998;
}
@@ -245,7 +249,7 @@ sbus_decode(hrt_abstime frame_time)
system_state.rc_channels = chancount;
/* and note that we have received data from the R/C controller */
system_state.rc_channels_timestamp = frame_time;
system_state.rc_channels_timestamp = frame_time;
/* trigger an immediate report to the FMU */
system_state.fmu_report_due = true;