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Fixed connection loss / failsafe detection, added decoding of two switch channels if IO supports 18 RC channels. Loss is tested, switch channels are not.

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This commit is contained in:
Lorenz Meier
2012-12-31 09:21:44 +01:00
parent c08135ffef
commit 0cc723dbc3
1 changed files with 16 additions and 9 deletions
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apps/px4io/sbus.c
+16 -9
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@@ -53,7 +53,7 @@
#include "debug.h"
#define SBUS_FRAME_SIZE 25
#define SBUS_INPUT_CHANNELS 16
#define SBUS_INPUT_CHANNELS 18
static int sbus_fd = -1;
@@ -87,9 +87,9 @@ sbus_init(const char *device)
partial_frame_count = 0;
last_rx_time = hrt_absolute_time();
debug("Sbus: ready");
debug("S.Bus: ready");
} else {
debug("Sbus: open failed");
debug("S.Bus: open failed");
}
return sbus_fd;
@@ -205,9 +205,13 @@ sbus_decode(hrt_abstime frame_time)
return;
}
/* if the failsafe bit is set, we consider the frame invalid */
if (frame[23] & (1 << 4)) {
return;
/* if the failsafe or connection lost bit is set, we consider the frame invalid */
if ((frame[23] & (1 << 2)) && /* signal lost */
(frame[23] & (1 << 3))) { /* failsafe */
/* actively announce signal loss */
system_state.rc_channels = 0;
return 1;
}
/* we have received something we think is a frame */
@@ -236,9 +240,12 @@ sbus_decode(hrt_abstime frame_time)
system_state.rc_channel_data[channel] = (value / 2) + 998;
}
if (PX4IO_INPUT_CHANNELS >= 18) {
chancount = 18;
/* XXX decode the two switch channels */
/* decode switch channels if data fields are wide enough */
if (chancount > 17) {
/* channel 17 (index 16) */
system_state.rc_channel_data[16] = (frame[23] & (1 << 0)) * 1000 + 998;
/* channel 18 (index 17) */
system_state.rc_channel_data[17] = (frame[23] & (1 << 1)) * 1000 + 998;
}
/* note the number of channels decoded */