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RC lib: Support separate config from init, allow DSM bind from all boards

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This commit is contained in:
Lorenz Meier
2015-12-24 09:47:29 +01:00
parent 63da175b3f
commit ee2e3811d7
4 changed files with 67 additions and 49 deletions
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src/lib/rc/dsm.c
+38 -46
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
* 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
@@ -40,6 +40,8 @@
*/
#include <px4_config.h>
#include <board_config.h>
#include <px4_defines.h>
#include <nuttx/arch.h>
#include <fcntl.h>
@@ -49,12 +51,8 @@
#include "dsm.h"
#include <drivers/drv_hrt.h>
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
#include <px4io.h>
#endif
#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
#include <px4io.h>
#ifndef GPIO_SPEKTRUM_PWR_EN
#error DSM input driver not supported by this board config
#endif
#define DSM_FRAME_SIZE 16 /**<DSM frame size in bytes*/
@@ -210,25 +208,13 @@ dsm_guess_format(bool reset)
dsm_guess_format(true);
}
/**
* Initialize the DSM receive functionality
*
* Open the UART for receiving DSM frames and configure it appropriately
*
* @param[in] device Device name of DSM UART
*/
int
dsm_init(const char *device)
dsm_config(int dsm_fd)
{
#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
// enable power on DSM connector
POWER_SPEKTRUM(true);
#endif
if (dsm_fd < 0) {
dsm_fd = open(device, O_RDONLY | O_NONBLOCK);
}
int ret = -1;
if (dsm_fd >= 0) {
@@ -247,15 +233,34 @@ dsm_init(const char *device)
/* reset the format detector */
dsm_guess_format(true);
//debug("DSM: ready");
} else {
//debug("DSM: open failed");
ret = 0;
}
return dsm_fd;
return ret;
}
/**
* Initialize the DSM receive functionality
*
* Open the UART for receiving DSM frames and configure it appropriately
*
* @param[in] device Device name of DSM UART
*/
int
dsm_init(const char *device)
{
if (dsm_fd < 0) {
dsm_fd = open(device, O_RDONLY | O_NONBLOCK);
}
int ret = dsm_config(dsm_fd);
if (!ret) {
return dsm_fd;
} else {
return -1;
}
}
/**
@@ -267,43 +272,32 @@ dsm_init(const char *device)
void
dsm_bind(uint16_t cmd, int pulses)
{
#if !defined(GPIO_USART1_RX_SPEKTRUM)
#else
if (dsm_fd < 0) {
return;
}
switch (cmd) {
case dsm_bind_power_down:
case DSM_CMD_BIND_POWER_DOWN:
/*power down DSM satellite*/
#if defined(CONFIG_ARCH_BOARD_PX4IO_V1)
POWER_RELAY1(0);
#elif defined(CONFIG_ARCH_BOARD_PX4IO_V2)
POWER_SPEKTRUM(0);
#endif
break;
case dsm_bind_power_up:
case DSM_CMD_BIND_POWER_UP:
/*power up DSM satellite*/
#if defined(CONFIG_ARCH_BOARD_PX4IO_V1)
POWER_RELAY1(1);
#elif defined(CONFIG_ARCH_BOARD_PX4IO_V2)
POWER_SPEKTRUM(1);
#endif
dsm_guess_format(true);
break;
case dsm_bind_set_rx_out:
case DSM_CMD_BIND_SET_RX_OUT:
/*Set UART RX pin to active output mode*/
stm32_configgpio(GPIO_USART1_RX_SPEKTRUM);
break;
case dsm_bind_send_pulses:
case DSM_CMD_BIND_SEND_PULSES:
/*Pulse RX pin a number of times*/
for (int i = 0; i < pulses; i++) {
@@ -315,15 +309,13 @@ dsm_bind(uint16_t cmd, int pulses)
break;
case dsm_bind_reinit_uart:
case DSM_CMD_BIND_REINIT_UART:
/*Restore USART RX pin to RS232 receive mode*/
stm32_configgpio(GPIO_USART1_RX);
break;
}
#endif
}
/**