dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Merge branch 'master' into fixedwing_l1

This commit is contained in:
Lorenz Meier 2013-09-10 13:24:08 +02:00
parent b32f79fc99 c3b6cea77a
commit dbeb2f3ec9
3 changed files with 12 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
src/modules/px4iofirmware/controls.c
View File

@ -108,9 +108,11 @@ controls_tick() {
perf_end(c_gather_dsm);
perf_begin(c_gather_sbus);
bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count);
if (sbus_updated)
bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, 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);
/*
@ -124,8 +126,6 @@ controls_tick() {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM;
perf_end(c_gather_ppm);
ASSERT(r_raw_rc_count <= PX4IO_CONTROL_CHANNELS);
/*
* In some cases we may have received a frame, but input has still
* been lost.

4
src/modules/px4iofirmware/px4io.h
View File

@ -51,7 +51,7 @@
*/
#define PX4IO_SERVO_COUNT 8
#define PX4IO_CONTROL_CHANNELS 8
#define PX4IO_INPUT_CHANNELS 12
#define PX4IO_INPUT_CHANNELS 8 // XXX this should be 18 channels
/*
* Debug logging
@ -200,7 +200,7 @@ 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);
extern bool sbus_input(uint16_t *values, uint16_t *num_values, uint16_t max_channels);
/** global debug level for isr_debug() */
extern volatile uint8_t debug_level;

12
src/modules/px4iofirmware/sbus.c
View File

@ -66,7 +66,7 @@ static unsigned partial_frame_count;
unsigned sbus_frame_drops;
static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values);
static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t max_channels);
int
sbus_init(const char *device)
@ -97,7 +97,7 @@ sbus_init(const char *device)
}
bool
sbus_input(uint16_t *values, uint16_t *num_values)
sbus_input(uint16_t *values, uint16_t *num_values, uint16_t max_channels)
{
ssize_t ret;
hrt_abstime now;
@ -154,7 +154,7 @@ sbus_input(uint16_t *values, uint16_t *num_values)
* decode it.
*/
partial_frame_count = 0;
return sbus_decode(now, values, num_values);
return sbus_decode(now, values, num_values, max_channels);
}
/*
@ -194,7 +194,7 @@ 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)
sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t max_values)
{
/* check frame boundary markers to avoid out-of-sync cases */
if ((frame[0] != 0x0f) || (frame[24] != 0x00)) {
@ -214,8 +214,8 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
/* we have received something we think is a frame */
last_frame_time = frame_time;
unsigned chancount = (PX4IO_INPUT_CHANNELS > SBUS_INPUT_CHANNELS) ?
SBUS_INPUT_CHANNELS : PX4IO_INPUT_CHANNELS;
unsigned chancount = (max_values > SBUS_INPUT_CHANNELS) ?
SBUS_INPUT_CHANNELS : max_values;
/* use the decoder matrix to extract channel data */
for (unsigned channel = 0; channel < chancount; channel++) {