Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-21 21:55:34 +08:00
Code Issues Actions 5 Packages Projects Releases Wiki Activity

lib/rc: dsm_bind() add debug output for binding

Browse Source 
- trivial code style cleanup
This commit is contained in:
Daniel Agar
2020-10-04 14:58:20 -04:00
parent ddce711acb
commit be28c4d309
2 changed files with 38 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/rc/CMakeLists.txt
+5 -1
View File
@@ -39,7 +39,11 @@ add_library(rc
dsm.cpp
common_rc.cpp
)
target_compile_options(rc PRIVATE -Wno-unused-result)
target_compile_options(rc
PRIVATE
#-DDEBUG_BUILD
-Wno-unused-result
)
target_link_libraries(rc PRIVATE prebuild_targets)
if(PX4_TESTING AND (${PX4_PLATFORM} MATCHES "posix"))
src/lib/rc/dsm.cpp
+33 -35
View File
@@ -164,8 +164,7 @@ static bool dsm_decode_channel(uint16_t raw, unsigned shift, uint8_t &channel, u
*
* @param[in] reset true=reset the 10/11 bit state to unknown
*/
static bool
dsm_guess_format(bool reset)
static bool dsm_guess_format(bool reset)
{
static uint32_t cs10 = 0;
static uint32_t cs11 = 0;
@@ -204,8 +203,7 @@ dsm_guess_format(bool reset)
samples++;
#ifdef DSM_DEBUG
printf("dsm guess format: samples: %d %s\n", samples,
(reset) ? "RESET" : "");
printf("dsm guess format: samples: %d %s\n", samples, (reset) ? "RESET" : "");
#endif
/* wait until we have seen plenty of frames - 5 should normally be enough */
@@ -269,8 +267,7 @@ dsm_guess_format(bool reset)
return false;
}
int
dsm_config(int fd)
int dsm_config(int fd)
{
#ifdef SPEKTRUM_POWER
// enable power on DSM connector
@@ -302,8 +299,7 @@ dsm_config(int fd)
return ret;
}
void
dsm_proto_init()
void dsm_proto_init()
{
dsm_channel_shift = 0;
dsm_frame_drops = 0;
@@ -322,10 +318,8 @@ dsm_proto_init()
*
* @param[in] device Device name of DSM UART
*/
int
dsm_init(const char *device)
int dsm_init(const char *device)
{
if (dsm_fd < 0) {
dsm_fd = open(device, O_RDWR | O_NONBLOCK);
}
@@ -342,8 +336,7 @@ dsm_init(const char *device)
}
}
void
dsm_deinit()
void dsm_deinit()
{
if (dsm_fd >= 0) {
close(dsm_fd);
@@ -359,37 +352,44 @@ dsm_deinit()
* @param[in] cmd commands - dsm_bind_power_down, dsm_bind_power_up, dsm_bind_set_rx_out, dsm_bind_send_pulses, dsm_bind_reinit_uart
* @param[in] pulses Number of pulses for dsm_bind_send_pulses command
*/
void
dsm_bind(uint16_t cmd, int pulses)
void dsm_bind(uint16_t cmd, int pulses)
{
if (dsm_fd < 0) {
return;
}
switch (cmd) {
case DSM_CMD_BIND_POWER_DOWN:
/*power down DSM satellite*/
// power down DSM satellite
#if defined(DSM_DEBUG)
printf("DSM: DSM_CMD_BIND_POWER_DOWN\n");
#endif
SPEKTRUM_POWER(false);
break;
case DSM_CMD_BIND_POWER_UP:
/*power up DSM satellite*/
// power up DSM satellite
#if defined(DSM_DEBUG)
printf("DSM: DSM_CMD_BIND_POWER_UP\n");
#endif
SPEKTRUM_POWER(true);
dsm_guess_format(true);
break;
case DSM_CMD_BIND_SET_RX_OUT:
/*Set UART RX pin to active output mode*/
// Set UART RX pin to active output mode
#if defined(DSM_DEBUG)
printf("DSM: DSM_CMD_BIND_SET_RX_OUT\n");
#endif
SPEKTRUM_RX_AS_GPIO_OUTPUT();
break;
case DSM_CMD_BIND_SEND_PULSES:
// Pulse RX pin a number of times
#if defined(DSM_DEBUG)
printf("DSM: DSM_CMD_BIND_SEND_PULSES\n");
#endif
/*Pulse RX pin a number of times*/
for (int i = 0; i < pulses; i++) {
dsm_udelay(120);
SPEKTRUM_OUT(false);
@@ -400,8 +400,10 @@ dsm_bind(uint16_t cmd, int pulses)
break;
case DSM_CMD_BIND_REINIT_UART:
/*Restore USART RX pin to RS232 receive mode*/
// Restore USART RX pin to RS232 receive mode
#if defined(DSM_DEBUG)
printf("DSM: DSM_CMD_BIND_REINIT_UART\n");
#endif
SPEKTRUM_RX_AS_UART();
break;
@@ -417,9 +419,8 @@ dsm_bind(uint16_t cmd, int pulses)
* @param[out] num_values pointer to number of raw channel values returned
* @return true=DSM frame successfully decoded, false=no update
*/
bool
dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool *dsm_11_bit, unsigned max_values,
int8_t *rssi_percent)
bool dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool *dsm_11_bit, unsigned max_values,
int8_t *rssi_percent)
{
/*
debug("DSM dsm_frame %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x",
@@ -683,9 +684,8 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool
* @param[out] rssi value in percent, if supported, or 127
* @return true=decoded raw channel values updated, false=no update
*/
bool
dsm_input(int fd, uint16_t *values, uint16_t *num_values, bool *dsm_11_bit, uint8_t *n_bytes, uint8_t **bytes,
int8_t *rssi, unsigned max_values)
bool dsm_input(int fd, uint16_t *values, uint16_t *num_values, bool *dsm_11_bit, uint8_t *n_bytes, uint8_t **bytes,
int8_t *rssi, unsigned max_values)
{
/*
* The S.BUS protocol doesn't provide reliable framing,
@@ -726,11 +726,9 @@ dsm_input(int fd, uint16_t *values, uint16_t *num_values, bool *dsm_11_bit, uint
return dsm_parse(now, &dsm_buf[0], ret, values, num_values, dsm_11_bit, &dsm_frame_drops, rssi, max_values);
}
bool
dsm_parse(const uint64_t now, const uint8_t *frame, const unsigned len, uint16_t *values,
uint16_t *num_values, bool *dsm_11_bit, unsigned *frame_drops, int8_t *rssi_percent, uint16_t max_channels)
bool dsm_parse(const uint64_t now, const uint8_t *frame, const unsigned len, uint16_t *values,
uint16_t *num_values, bool *dsm_11_bit, unsigned *frame_drops, int8_t *rssi_percent, uint16_t max_channels)
{
/* this is set by the decoding state machine and will default to false
* once everything that was decodable has been decoded.
*/