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px4-firmware
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PX4IO Controls: compile fixes

This commit is contained in:
Lorenz Meier 2014-10-07 09:28:36 +02:00
parent 3fc064882f
commit 35caa8bd99
1 changed files with 10 additions and 9 deletions
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19
src/modules/px4iofirmware/controls.c
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@ -52,7 +52,7 @@
#define RC_CHANNEL_LOW_THRESH -8000 /* 10% threshold */
static bool ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len);
static bool dsm_port_input(uint8_t *rssi);
static bool dsm_port_input(uint8_t *rssi, bool *dsm_updated, bool *st24_updated);
static perf_counter_t c_gather_dsm;
static perf_counter_t c_gather_sbus;
@ -60,14 +60,14 @@ static perf_counter_t c_gather_ppm;
static int _dsm_fd;
bool dsm_port_input(uint8_t *rssi)
bool dsm_port_input(uint8_t *rssi, bool *dsm_updated, bool *st24_updated)
{
perf_begin(c_gather_dsm);
uint16_t temp_count = r_raw_rc_count;
uint8_t n_bytes = 0;
uint8_t *bytes;
bool dsm_updated = dsm_input(r_raw_rc_values, &temp_count, &n_bytes, &bytes);
if (dsm_updated) {
*dsm_updated = dsm_input(r_raw_rc_values, &temp_count, &n_bytes, &bytes);
if (*dsm_updated) {
r_raw_rc_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM;
r_raw_rc_count = temp_count & 0x7fff;
if (temp_count & 0x8000)
@ -86,15 +86,15 @@ bool dsm_port_input(uint8_t *rssi)
uint16_t st24_channel_count;
uint8_t st24_maxchans = 18;
bool st24_updated = false;
*st24_updated = false;
for (unsigned i = 0; i < n_bytes; i++) {
/* set updated flag if one complete packet was parsed */
st24_updated |= st24_decode(bytes[i], &st24_rssi, &rx_count,
*st24_updated |= st24_decode(bytes[i], &st24_rssi, &rx_count,
&st24_channel_count, r_raw_rc_values, st24_maxchans);
}
if (st24_updated) {
if (*st24_updated) {
*rssi = st24_rssi;
r_raw_rc_count = st24_channel_count;
@ -104,7 +104,7 @@ bool dsm_port_input(uint8_t *rssi)
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
}
return false;
return (*dsm_updated | *st24_updated);
}
void
@ -167,7 +167,8 @@ controls_tick() {
#endif
perf_begin(c_gather_dsm);
(void)dsm_port_input(&rssi);
bool dsm_updated, st24_updated;
(void)dsm_port_input(&rssi, &dsm_updated, &st24_updated);
perf_end(c_gather_dsm);
perf_begin(c_gather_sbus);