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px4-firmware
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First attempt at sbus1 output.

This commit is contained in:
Daniel Shiels 2014-10-29 22:00:30 +11:00
parent 43418a6749
commit 02d31522cd
1 changed files with 34 additions and 3 deletions
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37
src/modules/px4iofirmware/sbus.c
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@ -80,8 +80,10 @@ static int sbus_fd = -1;
static hrt_abstime last_rx_time; static hrt_abstime last_rx_time;
static hrt_abstime last_frame_time; static hrt_abstime last_frame_time;
static hrt_abstime last_txframe_time=0;
static uint8_t frame[SBUS_FRAME_SIZE]; static uint8_t frame[SBUS_FRAME_SIZE];
static uint8_t oframe[SBUS_FRAME_SIZE];
static unsigned partial_frame_count; static unsigned partial_frame_count;
@ -122,10 +124,39 @@ sbus_init(const char *device)
void void
sbus1_output(uint16_t *values, uint16_t num_values) sbus1_output(uint16_t *values, uint16_t num_values)
{ {
char a = 'A'; //int. first byte of data is offset 1 in sbus
write(sbus_fd, &a, 1); uint8_t byteindex=1;
} uint8_t offset=0;
uint16_t value;
hrt_abstime now;
//oframe[0]=0xf0;
oframe[0]=0x0f;
now = hrt_absolute_time();
if ((now - last_txframe_time) > 14000) {
last_txframe_time = now;
for (uint16_t i=1;i<SBUS_FRAME_SIZE;++i) {
oframe[i]=0;
}
// 16 is sbus number of servos/channels minus 2 single bit channels.
// currently ignoring single bit channels.
for (uint16_t i=0;(i<num_values)&&(i<16);++i) {
value=(uint16_t)(((values[i]-SBUS_SCALE_OFFSET+.5f)/SBUS_SCALE_FACTOR) +.5f);
//protect from out of bounds values and limit to 11 bits;
value&=0x07ff;
while (offset>=8) {
++byteindex;
offset-=8;
}
oframe[byteindex] |= (value<<(offset))&0xff;
oframe[byteindex+1]|=(value>>(8-offset))&0xff;
oframe[byteindex+2]|=(value>>(16-offset))&0xff;
offset+=11;
}
write(sbus_fd, oframe, SBUS_FRAME_SIZE);
}
}
void void
sbus2_output(uint16_t *values, uint16_t num_values) sbus2_output(uint16_t *values, uint16_t num_values)
{ {