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px4-firmware
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First stab at implementing better RSSI based connection status estimation, still needs some work and testing

This commit is contained in:
Lorenz Meier 2013-12-13 18:01:55 +01:00
parent a673fa3926
commit 9883a346a0
6 changed files with 33 additions and 13 deletions
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3
src/drivers/drv_rc_input.h
View File

@ -89,6 +89,9 @@ struct rc_input_values {
/** number of channels actually being seen */
uint32_t channel_count;
/** receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 1000: full reception */
int32_t rssi;
/** Input source */
enum RC_INPUT_SOURCE input_source;

21
src/modules/px4iofirmware/controls.c
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@ -94,6 +94,9 @@ controls_tick() {
* other. Don't do that.
*/
/* receive signal strenght indicator (RSSI). 0 = no connection, 1000: perfect connection */
uint16_t rssi = 0;
perf_begin(c_gather_dsm);
uint16_t temp_count = r_raw_rc_count;
bool dsm_updated = dsm_input(r_raw_rc_values, &temp_count);
@ -104,14 +107,15 @@ controls_tick() {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM11;
else
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RC_DSM11;
rssi = 1000;
}
perf_end(c_gather_dsm);
perf_begin(c_gather_sbus);
bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, PX4IO_CONTROL_CHANNELS /* XXX this should be INPUT channels, once untangled */);
bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &rssi, PX4IO_CONTROL_CHANNELS /* XXX this should be INPUT channels, once untangled */);
if (sbus_updated) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS;
r_raw_rc_count = 8;
}
perf_end(c_gather_sbus);
@ -122,10 +126,19 @@ controls_tick() {
*/
perf_begin(c_gather_ppm);
bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count);
if (ppm_updated)
if (ppm_updated) {
/* XXX sample RSSI properly here */
rssi = 1000;
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM;
}
perf_end(c_gather_ppm);
/* limit number of channels to allowable data size */
if (r_raw_rc_count > PX4IO_INPUT_CHANNELS)
r_raw_rc_count = PX4IO_INPUT_CHANNELS;
/*
* In some cases we may have received a frame, but input has still
* been lost.
@ -221,7 +234,7 @@ controls_tick() {
* This might happen if a protocol-based receiver returns an update
* that contains no channels that we have mapped.
*/
if (assigned_channels == 0) {
if (assigned_channels == 0 || rssi == 0) {
rc_input_lost = true;
} else {
/* set RC OK flag */

1
src/modules/px4iofirmware/protocol.h
View File

@ -124,6 +124,7 @@
#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_PRSSI 8 /* [2] RSSI PWM value */
#define PX4IO_P_STATUS_NRSSI 9 /* [2] Normalized RSSI value, 0: no reception, 1000: perfect reception */
/* array of post-mix actuator outputs, -10000..10000 */
#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */

2
src/modules/px4iofirmware/px4io.h
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@ -209,7 +209,7 @@ extern int dsm_init(const char *device);
extern bool dsm_input(uint16_t *values, uint16_t *num_values);
extern void dsm_bind(uint16_t cmd, int pulses);
extern int sbus_init(const char *device);
extern bool sbus_input(uint16_t *values, uint16_t *num_values, uint16_t max_channels);
extern bool sbus_input(uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_channels);
/** global debug level for isr_debug() */
extern volatile uint8_t debug_level;

2
src/modules/px4iofirmware/registers.c
View File

@ -114,7 +114,7 @@ uint16_t r_page_servos[PX4IO_SERVO_COUNT];
uint16_t r_page_raw_rc_input[] =
{
[PX4IO_P_RAW_RC_COUNT] = 0,
[PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + PX4IO_CONTROL_CHANNELS)] = 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
};
/**

17
src/modules/px4iofirmware/sbus.c
View File

@ -87,7 +87,7 @@ static unsigned partial_frame_count;
unsigned sbus_frame_drops;
static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t max_channels);
static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_channels);
int
sbus_init(const char *device)
@ -118,7 +118,7 @@ sbus_init(const char *device)
}
bool
sbus_input(uint16_t *values, uint16_t *num_values, uint16_t max_channels)
sbus_input(uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_channels)
{
ssize_t ret;
hrt_abstime now;
@ -175,7 +175,7 @@ sbus_input(uint16_t *values, uint16_t *num_values, uint16_t max_channels)
* decode it.
*/
partial_frame_count = 0;
return sbus_decode(now, values, num_values, max_channels);
return sbus_decode(now, values, num_values, rssi, max_channels);
}
/*
@ -215,7 +215,7 @@ static const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3] = {
};
static bool
sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t max_values)
sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_values)
{
/* check frame boundary markers to avoid out-of-sync cases */
if ((frame[0] != 0x0f) || (frame[24] != 0x00)) {
@ -266,8 +266,9 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint
/* decode and handle failsafe and frame-lost flags */
if (frame[SBUS_FLAGS_BYTE] & (1 << SBUS_FAILSAFE_BIT)) { /* failsafe */
/* emulate throttle failsafe for maximum compatibility and do not destroy any channel data */
values[2] = 900;
/* report that we failed to read anything valid off the receiver */
*rssi = 0;
return false;
}
else if (frame[SBUS_FLAGS_BYTE] & (1 << SBUS_FRAMELOST_BIT)) { /* a frame was lost */
/* set a special warning flag or try to calculate some kind of RSSI information - to be implemented
@ -276,8 +277,10 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint
* condition as fail-safe greatly reduces the reliability and range of the radio link,
* e.g. by prematurely issueing return-to-launch!!! */
// values[2] = 888; // marker for debug purposes
*rssi = 100; // XXX magic number indicating bad signal, but not a signal loss (yet)
}
*rssi = 1000;
return true;
}