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px4-firmware
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Merge remote-tracking branch 'upstream/master' into fw_autoland_att_tecs_navigator_termination_controlgroups 

Conflicts:
	src/modules/px4iofirmware/registers.c
This commit is contained in:
Thomas Gubler 2013-12-26 18:17:04 +01:00
parent b02b48290f 8d2950561d
commit a2cee83e57
8 changed files with 57 additions and 20 deletions
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2
src/drivers/drv_rc_input.h
View File

@ -89,7 +89,7 @@ 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 */
/** receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 255: full reception */
int32_t rssi;
/** Input source */

10
src/drivers/px4io/px4io.cpp
View File

@ -1801,6 +1801,16 @@ PX4IO::print_status()
printf(" %u", io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + i));
printf("\n");
if (raw_inputs > 0) {
int frame_len = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_RC_DATA);
printf("RC data (PPM frame len) %u us\n", frame_len);
if ((frame_len - raw_inputs * 2000 - 3000) < 0) {
printf("WARNING WARNING WARNING! This RC receiver does not allow safe frame detection.\n");
}
}
uint16_t mapped_inputs = io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_VALID);
printf("mapped R/C inputs 0x%04x", mapped_inputs);

39
src/drivers/stm32/drv_hrt.c
View File

@ -282,6 +282,10 @@ static void hrt_call_invoke(void);
* Note that we assume that M3 means STM32F1 (since we don't really care about the F2).
*/
# ifdef CONFIG_ARCH_CORTEXM3
# undef GTIM_CCER_CC1NP
# undef GTIM_CCER_CC2NP
# undef GTIM_CCER_CC3NP
# undef GTIM_CCER_CC4NP
# define GTIM_CCER_CC1NP 0
# define GTIM_CCER_CC2NP 0
# define GTIM_CCER_CC3NP 0
@ -332,10 +336,10 @@ static void hrt_call_invoke(void);
/*
* PPM decoder tuning parameters
*/
# define PPM_MAX_PULSE_WIDTH 550 /* maximum width of a valid pulse */
# define PPM_MAX_PULSE_WIDTH 700 /* maximum width of a valid pulse */
# define PPM_MIN_CHANNEL_VALUE 800 /* shortest valid channel signal */
# define PPM_MAX_CHANNEL_VALUE 2200 /* longest valid channel signal */
# define PPM_MIN_START 2500 /* shortest valid start gap */
# define PPM_MIN_START 2400 /* shortest valid start gap (only 2nd part of pulse) */
/* decoded PPM buffer */
#define PPM_MIN_CHANNELS 5
@ -345,6 +349,7 @@ static void hrt_call_invoke(void);
#define PPM_CHANNEL_LOCK 4 /* should be less than the input timeout */
__EXPORT uint16_t ppm_buffer[PPM_MAX_CHANNELS];
__EXPORT uint16_t ppm_frame_length = 0;
__EXPORT unsigned ppm_decoded_channels = 0;
__EXPORT uint64_t ppm_last_valid_decode = 0;
@ -362,7 +367,8 @@ static uint16_t ppm_temp_buffer[PPM_MAX_CHANNELS];
struct {
uint16_t last_edge; /* last capture time */
uint16_t last_mark; /* last significant edge */
unsigned next_channel;
uint16_t frame_start; /* the frame width */
unsigned next_channel; /* next channel index */
enum {
UNSYNCH = 0,
ARM,
@ -447,7 +453,6 @@ hrt_ppm_decode(uint32_t status)
/* how long since the last edge? - this handles counter wrapping implicitely. */
width = count - ppm.last_edge;
ppm.last_edge = count;
ppm_edge_history[ppm_edge_next++] = width;
@ -491,6 +496,7 @@ hrt_ppm_decode(uint32_t status)
ppm_buffer[i] = ppm_temp_buffer[i];
ppm_last_valid_decode = hrt_absolute_time();
}
}
@ -500,13 +506,14 @@ hrt_ppm_decode(uint32_t status)
/* next edge is the reference for the first channel */
ppm.phase = ARM;
ppm.last_edge = count;
return;
}
switch (ppm.phase) {
case UNSYNCH:
/* we are waiting for a start pulse - nothing useful to do here */
return;
break;
case ARM:
@ -515,14 +522,23 @@ hrt_ppm_decode(uint32_t status)
goto error; /* pulse was too long */
/* record the mark timing, expect an inactive edge */
ppm.last_mark = count;
ppm.phase = INACTIVE;
return;
ppm.last_mark = ppm.last_edge;
/* frame length is everything including the start gap */
ppm_frame_length = (uint16_t)(ppm.last_edge - ppm.frame_start);
ppm.frame_start = ppm.last_edge;
ppm.phase = ACTIVE;
break;
case INACTIVE:
/* we expect a short pulse */
if (width > PPM_MAX_PULSE_WIDTH)
goto error; /* pulse was too long */
/* this edge is not interesting, but now we are ready for the next mark */
ppm.phase = ACTIVE;
return;
break;
case ACTIVE:
/* determine the interval from the last mark */
@ -543,10 +559,13 @@ hrt_ppm_decode(uint32_t status)
ppm_temp_buffer[ppm.next_channel++] = interval;
ppm.phase = INACTIVE;
return;
break;
}
ppm.last_edge = count;
return;
/* the state machine is corrupted; reset it */
error:

16
src/modules/px4iofirmware/controls.c
View File

@ -50,7 +50,7 @@
#define RC_CHANNEL_HIGH_THRESH 5000
#define RC_CHANNEL_LOW_THRESH -5000
static bool ppm_input(uint16_t *values, uint16_t *num_values);
static bool ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len);
static perf_counter_t c_gather_dsm;
static perf_counter_t c_gather_sbus;
@ -94,7 +94,7 @@ controls_tick() {
* other. Don't do that.
*/
/* receive signal strenght indicator (RSSI). 0 = no connection, 1000: perfect connection */
/* receive signal strenght indicator (RSSI). 0 = no connection, 255: perfect connection */
uint16_t rssi = 0;
perf_begin(c_gather_dsm);
@ -108,7 +108,7 @@ controls_tick() {
else
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RC_DSM11;
rssi = 1000;
rssi = 255;
}
perf_end(c_gather_dsm);
@ -125,11 +125,11 @@ controls_tick() {
* disable the PPM decoder completely if we have S.bus signal.
*/
perf_begin(c_gather_ppm);
bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count);
bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count, &r_page_status[PX4IO_P_STATUS_RC_DATA]);
if (ppm_updated) {
/* XXX sample RSSI properly here */
rssi = 1000;
rssi = 255;
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM;
}
@ -321,7 +321,7 @@ controls_tick() {
}
static bool
ppm_input(uint16_t *values, uint16_t *num_values)
ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len)
{
bool result = false;
@ -345,6 +345,10 @@ ppm_input(uint16_t *values, uint16_t *num_values)
/* clear validity */
ppm_last_valid_decode = 0;
/* store PPM frame length */
if (num_values)
*frame_len = ppm_frame_length;
/* good if we got any channels */
result = (*num_values > 0);
}

3
src/modules/px4iofirmware/protocol.h
View File

@ -128,7 +128,8 @@
#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 */
#define PX4IO_P_STATUS_NRSSI 9 /* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */
#define PX4IO_P_STATUS_RC_DATA 10 /* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */
/* array of post-mix actuator outputs, -10000..10000 */
#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */

4
src/modules/px4iofirmware/registers.c
View File

@ -89,7 +89,9 @@ uint16_t r_page_status[] = {
[PX4IO_P_STATUS_IBATT] = 0,
[PX4IO_P_STATUS_VSERVO] = 0,
[PX4IO_P_STATUS_VRSSI] = 0,
[PX4IO_P_STATUS_PRSSI] = 0
[PX4IO_P_STATUS_PRSSI] = 0,
[PX4IO_P_STATUS_NRSSI] = 0,
[PX4IO_P_STATUS_RC_DATA] = 0
};
/**

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

@ -280,7 +280,7 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint
*rssi = 100; // XXX magic number indicating bad signal, but not a signal loss (yet)
}
*rssi = 1000;
*rssi = 255;
return true;
}

1
src/modules/systemlib/ppm_decode.h
View File

@ -57,6 +57,7 @@ __BEGIN_DECLS
* PPM decoder state
*/
__EXPORT extern uint16_t ppm_buffer[PPM_MAX_CHANNELS]; /**< decoded PPM channel values */
__EXPORT extern uint16_t ppm_frame_length; /**< length of the decoded PPM frame (includes gap) */
__EXPORT extern unsigned ppm_decoded_channels; /**< count of decoded channels */
__EXPORT extern hrt_abstime ppm_last_valid_decode; /**< timestamp of the last valid decode */