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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/drivers/px4io/px4io.cpp
+10
View File
@@ -1724,6 +1724,16 @@ PX4IO::print_status()
printf(" %u", io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + i)); printf(" %u", io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + i));
printf("\n"); printf("\n");
if (raw_inputs > 0) {
int frame_len = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_RC_DATA);
printf("RC data (PPM frame len) %u us\n", frame_len);
if ((frame_len - raw_inputs * 2000 - 3000) < 0) {
printf("WARNING WARNING WARNING! This RC receiver does not allow safe frame detection.\n");
}
}
uint16_t mapped_inputs = io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_VALID); uint16_t mapped_inputs = io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_VALID);
printf("mapped R/C inputs 0x%04x", mapped_inputs); printf("mapped R/C inputs 0x%04x", mapped_inputs);
src/modules/px4iofirmware/controls.c
+7 -3
View File
@@ -50,7 +50,7 @@
#define RC_CHANNEL_HIGH_THRESH 5000 #define RC_CHANNEL_HIGH_THRESH 5000
#define RC_CHANNEL_LOW_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_dsm;
static perf_counter_t c_gather_sbus; static perf_counter_t c_gather_sbus;
@@ -125,7 +125,7 @@ controls_tick() {
* disable the PPM decoder completely if we have S.bus signal. * disable the PPM decoder completely if we have S.bus signal.
*/ */
perf_begin(c_gather_ppm); 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) { if (ppm_updated) {
/* XXX sample RSSI properly here */ /* XXX sample RSSI properly here */
@@ -319,7 +319,7 @@ controls_tick() {
} }
static bool 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; bool result = false;
@@ -343,6 +343,10 @@ ppm_input(uint16_t *values, uint16_t *num_values)
/* clear validity */ /* clear validity */
ppm_last_valid_decode = 0; ppm_last_valid_decode = 0;
/* store PPM frame length */
if (num_values)
*frame_len = ppm_frame_length;
/* good if we got any channels */ /* good if we got any channels */
result = (*num_values > 0); result = (*num_values > 0);
} }
src/modules/px4iofirmware/protocol.h
+2 -1
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@@ -124,7 +124,8 @@
#define PX4IO_P_STATUS_VSERVO 6 /* [2] servo rail voltage in mV */ #define PX4IO_P_STATUS_VSERVO 6 /* [2] servo rail voltage in mV */
#define PX4IO_P_STATUS_VRSSI 7 /* [2] RSSI voltage */ #define PX4IO_P_STATUS_VRSSI 7 /* [2] RSSI voltage */
#define PX4IO_P_STATUS_PRSSI 8 /* [2] RSSI PWM value */ #define PX4IO_P_STATUS_PRSSI 8 /* [2] RSSI PWM value */
#define PX4IO_P_STATUS_NRSSI 9 /* [2] Normalized RSSI value, 0: no reception, 1000: perfect reception */ #define PX4IO_P_STATUS_NRSSI 9 /* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */
#define PX4IO_P_STATUS_RC_DATA 10 /* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */
/* array of post-mix actuator outputs, -10000..10000 */ /* array of post-mix actuator outputs, -10000..10000 */
#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */ #define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */
src/modules/px4iofirmware/registers.c
+4 -2
View File
@@ -89,7 +89,9 @@ uint16_t r_page_status[] = {
[PX4IO_P_STATUS_IBATT] = 0, [PX4IO_P_STATUS_IBATT] = 0,
[PX4IO_P_STATUS_VSERVO] = 0, [PX4IO_P_STATUS_VSERVO] = 0,
[PX4IO_P_STATUS_VRSSI] = 0, [PX4IO_P_STATUS_VRSSI] = 0,
[PX4IO_P_STATUS_PRSSI] = 0 [PX4IO_P_STATUS_PRSSI] = 0,
[PX4IO_P_STATUS_NRSSI] = 0,
[PX4IO_P_STATUS_RC_DATA] = 0
}; };
/** /**
@@ -114,7 +116,7 @@ uint16_t r_page_servos[PX4IO_SERVO_COUNT];
uint16_t r_page_raw_rc_input[] = uint16_t r_page_raw_rc_input[] =
{ {
[PX4IO_P_RAW_RC_COUNT] = 0, [PX4IO_P_RAW_RC_COUNT] = 0,
[PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + 24)] = 0 // XXX ensure we have enough space to decode beefy RX, will be replaced by patch soon [PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + PX4IO_CONTROL_CHANNELS)] = 0 // XXX ensure we have enough space to decode beefy RX, will be replaced by patch soon
}; };
/** /**