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px4-firmware
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Add support for 8 channel DSMX sattelite pairing

This commit is contained in:
Jean Cyr 2013-10-12 01:14:03 -04:00
parent 1306c9de7b
commit f1c399a60b
3 changed files with 12 additions and 6 deletions
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1
src/drivers/drv_pwm_output.h
View File

@ -120,6 +120,7 @@ ORB_DECLARE(output_pwm);
#define DSM2_BIND_PULSES 3 /* DSM_BIND_START ioctl parameter, pulses required to start dsm2 pairing */
#define DSMX_BIND_PULSES 7 /* DSM_BIND_START ioctl parameter, pulses required to start dsmx pairing */
#define DSMX8_BIND_PULSES 10 /* DSM_BIND_START ioctl parameter, pulses required to start 8 or more channel dsmx pairing */
/** Power up DSM receiver */
#define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 8)

15
src/drivers/px4io/px4io.cpp
View File

@ -82,6 +82,7 @@
#include <uORB/topics/battery_status.h>
#include <uORB/topics/servorail_status.h>
#include <uORB/topics/parameter_update.h>
#include <debug.h>
#include <mavlink/mavlink_log.h>
@ -709,7 +710,6 @@ PX4IO::init()
/* regular boot, no in-air restart, init IO */
} else {
/* dis-arm IO before touching anything */
io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING,
PX4IO_P_SETUP_ARMING_FMU_ARMED |
@ -1210,13 +1210,13 @@ PX4IO::dsm_bind_ioctl(int dsmMode)
if (!(_status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)) {
/* 0: dsm2, 1:dsmx */
if ((dsmMode == 0) || (dsmMode == 1)) {
mavlink_log_info(_thread_mavlink_fd, "[IO] binding dsm%c rx", (dsmMode == 0) ? '2' : 'x');
ioctl(nullptr, DSM_BIND_START, (dsmMode == 0) ? DSM2_BIND_PULSES : DSMX_BIND_PULSES);
mavlink_log_info(_thread_mavlink_fd, "[IO] binding dsm%s rx", (dsmMode == 0) ? "2" : ((dsmMode == 1) ? "x" : "x8"));
ioctl(nullptr, DSM_BIND_START, (dsmMode == 0) ? DSM2_BIND_PULSES : ((dsmMode == 1) ? DSMX_BIND_PULSES : DSMX8_BIND_PULSES));
} else {
mavlink_log_info(_thread_mavlink_fd, "[IO] invalid dsm bind mode, bind request rejected");
}
} else {
mavlink_log_info(_thread_mavlink_fd, "[IO] system armed, bind request rejected");
mavlink_log_info(_thread_mavlink_fd, "[IO] system armed, bind request rejected");
}
}
@ -1870,7 +1870,7 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
usleep(500000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
usleep(50000);
usleep(72000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (arg << 4));
usleep(50000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
@ -2213,8 +2213,13 @@ bind(int argc, char *argv[])
pulses = DSM2_BIND_PULSES;
else if (!strcmp(argv[2], "dsmx"))
pulses = DSMX_BIND_PULSES;
else if (!strcmp(argv[2], "dsmx8"))
pulses = DSMX8_BIND_PULSES;
else
errx(1, "unknown parameter %s, use dsm2 or dsmx", argv[2]);
// Test for custom pulse parameter
if (argc > 3)
pulses = atoi(argv[3]);
if (g_dev->system_status() & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
errx(1, "system must not be armed");

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

@ -285,10 +285,10 @@ dsm_bind(uint16_t cmd, int pulses)
/*Pulse RX pin a number of times*/
for (int i = 0; i < pulses; i++) {
up_udelay(25);
stm32_gpiowrite(usart1RxAsOutp, false);
up_udelay(25);
stm32_gpiowrite(usart1RxAsOutp, true);
up_udelay(25);
}
break;