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Added PPM frame length feedback in IO comms and status command - allows to warn users about badly formatted PPM frames

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Lorenz Meier
2013-12-25 15:11:48 +01:00
parent a502332992
commit edffade8ce
4 changed files with 23 additions and 6 deletions
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src/modules/px4iofirmware/controls.c
+7 -3
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@@ -50,7 +50,7 @@
#define RC_CHANNEL_HIGH_THRESH 5000
#define RC_CHANNEL_LOW_THRESH -5000
static bool ppm_input(uint16_t *values, uint16_t *num_values);
static bool ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len);
static perf_counter_t c_gather_dsm;
static perf_counter_t c_gather_sbus;
@@ -125,7 +125,7 @@ controls_tick() {
* disable the PPM decoder completely if we have S.bus signal.
*/
perf_begin(c_gather_ppm);
bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count);
bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count, &r_page_status[PX4IO_P_STATUS_RC_DATA]);
if (ppm_updated) {
/* XXX sample RSSI properly here */
@@ -319,7 +319,7 @@ controls_tick() {
}
static bool
ppm_input(uint16_t *values, uint16_t *num_values)
ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len)
{
bool result = false;
@@ -343,6 +343,10 @@ ppm_input(uint16_t *values, uint16_t *num_values)
/* clear validity */
ppm_last_valid_decode = 0;
/* store PPM frame length */
if (num_values)
*frame_len = ppm_frame_length;
/* good if we got any channels */
result = (*num_values > 0);
}