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px4-firmware
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Fix breakage to the DSM parser introduced with the input prioritisation logic. Back out to a "any input wins" strategy; connecting multiple receivers to I/O at the same time is currently not supported (read: strange things will happen).

This commit is contained in:
px4dev 2012-12-03 23:20:28 -08:00
parent 6e328b4d7a
commit 1485a4ec1a
7 changed files with 84 additions and 88 deletions
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12
apps/px4io/comms.c
View File

@ -100,8 +100,8 @@ comms_main(void)
debug("FMU: ready");
for (;;) {
/* wait for serial data, but no more than 100ms */
poll(&fds, 1, 100);
/* wait for serial data, but no more than 10ms */
poll(&fds, 1, 10);
/*
* Pull bytes from FMU and feed them to the HX engine.
@ -132,13 +132,7 @@ comms_main(void)
/* populate the report */
for (int i = 0; i < system_state.rc_channels; i++)
report.rc_channel[i] = system_state.rc_channel_data[i];
if (system_state.sbus_input_ok || system_state.dsm_input_ok || system_state.ppm_input_ok) {
report.channel_count = system_state.rc_channels;
} else {
report.channel_count = 0;
}
report.channel_count = system_state.rc_channels;
report.armed = system_state.armed;
/* and send it */

56
apps/px4io/controls.c
View File

@ -55,19 +55,23 @@
#include <drivers/drv_hrt.h>
#include <systemlib/hx_stream.h>
#include <systemlib/perf_counter.h>
#include <systemlib/ppm_decode.h>
#define DEBUG
#include "px4io.h"
static void ppm_input(void);
void
controls_main(void)
{
struct pollfd fds[2];
/* DSM input */
fds[0].fd = dsm_init("/dev/ttyS0");
fds[0].events = POLLIN;
/* S.bus input */
fds[1].fd = sbus_init("/dev/ttyS2");
fds[1].events = POLLIN;
@ -75,14 +79,62 @@ controls_main(void)
/* run this loop at ~100Hz */
poll(fds, 2, 10);
/*
* Gather R/C control inputs from supported sources.
*
* Note that if you're silly enough to connect more than
* one control input source, they're going to fight each
* other. Don't do that.
*/
if (fds[0].revents & POLLIN)
dsm_input();
if (fds[1].revents & POLLIN)
sbus_input();
ppm_input();
/* XXX do ppm processing, bypass mode, etc. here */
/*
* If we haven't seen any new control data in 200ms, assume we
* have lost input and tell FMU
*/
if ((hrt_absolute_time() - system_state.rc_channels_timestamp) > 200000) {
/* set the number of channels to zero - no inputs */
system_state.rc_channels = 0;
/* trigger an immediate report to the FMU */
system_state.fmu_report_due = true;
}
/* XXX do bypass mode, etc. here */
/* do PWM output updates */
mixer_tick();
}
}
static void
ppm_input(void)
{
/*
* Look for new PPM input.
*/
if (ppm_last_valid_decode != 0) {
/* avoid racing with PPM updates */
irqstate_t state = irqsave();
/* PPM data exists, copy it */
system_state.rc_channels = ppm_decoded_channels;
for (unsigned i = 0; i < ppm_decoded_channels; i++)
system_state.rc_channel_data[i] = ppm_buffer[i];
/* copy the timestamp and clear it */
system_state.rc_channels_timestamp = ppm_last_valid_decode;
ppm_last_valid_decode = 0;
irqrestore(state);
/* trigger an immediate report to the FMU */
system_state.fmu_report_due = true;
}
}

36
apps/px4io/dsm.c
View File

@ -275,10 +275,13 @@ dsm_decode(hrt_abstime frame_time)
*/
if (((frame_time - last_frame_time) > 1000000) && (channel_shift != 0))
dsm_guess_format(true);
/* we have received something we think is a frame */
last_frame_time = frame_time;
/* if we don't know the frame format, update the guessing state machine */
if (channel_shift == 0) {
dsm_guess_format(false);
system_state.dsm_input_ok = false;
return;
}
@ -293,10 +296,6 @@ dsm_decode(hrt_abstime frame_time)
* seven channels are being transmitted.
*/
const unsigned dsm_chancount = (DSM_FRAME_CHANNELS < PX4IO_INPUT_CHANNELS) ? DSM_FRAME_CHANNELS : PX4IO_INPUT_CHANNELS;
uint16_t dsm_channels[dsm_chancount];
for (unsigned i = 0; i < DSM_FRAME_CHANNELS; i++) {
uint8_t *dp = &frame[2 + (2 * i)];
@ -311,31 +310,22 @@ dsm_decode(hrt_abstime frame_time)
continue;
/* update the decoded channel count */
if (channel > ppm_decoded_channels)
ppm_decoded_channels = channel;
if (channel >= system_state.rc_channels)
system_state.rc_channels = channel + 1;
/* convert 0-1024 / 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */
if (channel_shift == 11)
value /= 2;
/* stuff the decoded channel into the PPM input buffer */
dsm_channels[channel] = 988 + value;
/* XXX check actual values */
system_state.rc_channel_data[channel] = 988 + value;
}
/* DSM input is valid */
system_state.dsm_input_ok = true;
/* and note that we have received data from the R/C controller */
/* XXX failsafe will cause problems here - need a strategy for detecting it */
system_state.rc_channels_timestamp = frame_time;
/* check if no S.BUS data is available */
if (!system_state.sbus_input_ok) {
for (unsigned i = 0; i < dsm_chancount; i++) {
system_state.rc_channel_data[i] = dsm_channels[i];
}
/* and note that we have received data from the R/C controller */
/* XXX failsafe will cause problems here - need a strategy for detecting it */
system_state.rc_channels_timestamp = frame_time;
system_state.rc_channels = dsm_chancount;
system_state.fmu_report_due = true;
}
/* trigger an immediate report to the FMU */
system_state.fmu_report_due = true;
}

44
apps/px4io/mixer.c
View File

@ -50,8 +50,6 @@
#include <drivers/drv_pwm_output.h>
#include <systemlib/ppm_decode.h>
#include "px4io.h"
/*
@ -59,10 +57,6 @@
*/
static unsigned fmu_input_drops;
#define FMU_INPUT_DROP_LIMIT 20
/*
* Collect RC input data from the controller source(s).
*/
static void mixer_get_rc_input(void);
/*
* Update a mixer based on the current control signals.
@ -88,12 +82,6 @@ mixer_tick(void)
int i;
bool should_arm;
/*
* Start by looking for R/C control inputs.
* This updates system_state with any control inputs received.
*/
mixer_get_rc_input();
/*
* Decide which set of inputs we're using.
*/
@ -122,8 +110,10 @@ mixer_tick(void)
} else {
/* we have no control input */
/* XXX builtin failsafe would activate here */
control_count = 0;
}
/*
* Tickle each mixer, if we have control data.
*/
@ -142,8 +132,7 @@ mixer_tick(void)
/*
* Decide whether the servos should be armed right now.
*/
should_arm = system_state.armed && system_state.arm_ok && (control_count > 0) && system_state.mixer_use_fmu;
should_arm = system_state.armed && system_state.arm_ok && (control_count > 0);
if (should_arm && !mixer_servos_armed) {
/* need to arm, but not armed */
up_pwm_servo_arm(true);
@ -166,30 +155,3 @@ mixer_update(int mixer, uint16_t *inputs, int input_count)
mixers[mixer].current_value = 0;
}
}
static void
mixer_get_rc_input(void)
{
/* if we haven't seen any new data in 200ms, assume we have lost input and tell FMU */
if ((hrt_absolute_time() - ppm_last_valid_decode) > 200000) {
/* input was ok and timed out, mark as update */
if (system_state.ppm_input_ok) {
system_state.ppm_input_ok = false;
system_state.fmu_report_due = true;
}
return;
}
/* mark PPM as valid */
system_state.ppm_input_ok = true;
/* check if no DSM and S.BUS data is available */
if (!system_state.sbus_input_ok && !system_state.dsm_input_ok) {
/* otherwise, copy channel data */
system_state.rc_channels = ppm_decoded_channels;
for (unsigned i = 0; i < ppm_decoded_channels; i++)
system_state.rc_channel_data[i] = ppm_buffer[i];
system_state.fmu_report_due = true;
}
}

1
apps/px4io/px4io.c
View File

@ -44,6 +44,7 @@
#include <debug.h>
#include <stdlib.h>
#include <errno.h>
#include <string.h>
#include <nuttx/clock.h>

8
apps/px4io/px4io.h
View File

@ -69,12 +69,8 @@
struct sys_state_s
{
bool armed; /* IO armed */
bool arm_ok; /* FMU says OK to arm */
bool ppm_input_ok; /* valid PPM input data */
bool dsm_input_ok; /* valid Spektrum DSM data */
bool sbus_input_ok; /* valid Futaba S.Bus data */
bool armed; /* IO armed */
bool arm_ok; /* FMU says OK to arm */
/*
* Data from the remote control input(s)

15
apps/px4io/sbus.c
View File

@ -195,17 +195,16 @@ sbus_decode(hrt_abstime frame_time)
/* check frame boundary markers to avoid out-of-sync cases */
if ((frame[0] != 0x0f) || (frame[24] != 0x00)) {
sbus_frame_drops++;
system_state.sbus_input_ok = false;
return;
}
/* if the failsafe bit is set, we consider that a loss of RX signal */
/* if the failsafe bit is set, we consider the frame invalid */
if (frame[23] & (1 << 4)) {
system_state.sbus_input_ok = false;
return;
}
unsigned chancount = (PX4IO_INPUT_CHANNELS > 16) ? 16 : 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++) {
@ -228,14 +227,16 @@ sbus_decode(hrt_abstime frame_time)
}
if (PX4IO_INPUT_CHANNELS >= 18) {
/* decode two switch channels */
chancount = 18;
/* XXX decode the two switch channels */
}
/* note the number of channels decoded */
system_state.rc_channels = chancount;
system_state.sbus_input_ok = true;
system_state.fmu_report_due = true;
/* and note that we have received data from the R/C controller */
system_state.rc_channels_timestamp = frame_time;
/* trigger an immediate report to the FMU */
system_state.fmu_report_due = true;
}