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Hotfix for S.Bus systems with more than 8 channels

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Lorenz Meier
2013-09-10 13:22:56 +02:00
parent 465f161427
commit c3b6cea77a
3 changed files with 12 additions and 10 deletions
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src/modules/px4iofirmware/controls.c
+4 -2
View File
@@ -108,9 +108,11 @@ controls_tick() {
perf_end(c_gather_dsm); perf_end(c_gather_dsm);
perf_begin(c_gather_sbus); perf_begin(c_gather_sbus);
bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count); 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) if (sbus_updated) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS; r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS;
r_raw_rc_count = 8;
}
perf_end(c_gather_sbus); perf_end(c_gather_sbus);
/* /*
src/modules/px4iofirmware/px4io.h
+2 -2
View File
@@ -51,7 +51,7 @@
*/ */
#define PX4IO_SERVO_COUNT 8 #define PX4IO_SERVO_COUNT 8
#define PX4IO_CONTROL_CHANNELS 8 #define PX4IO_CONTROL_CHANNELS 8
#define PX4IO_INPUT_CHANNELS 12 #define PX4IO_INPUT_CHANNELS 8 // XXX this should be 18 channels
/* /*
* Debug logging * 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 bool dsm_input(uint16_t *values, uint16_t *num_values);
extern void dsm_bind(uint16_t cmd, int pulses); extern void dsm_bind(uint16_t cmd, int pulses);
extern int sbus_init(const char *device); 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() */ /** global debug level for isr_debug() */
extern volatile uint8_t debug_level; extern volatile uint8_t debug_level;
src/modules/px4iofirmware/sbus.c
+6 -6
View File
@@ -66,7 +66,7 @@ static unsigned partial_frame_count;
unsigned sbus_frame_drops; 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 int
sbus_init(const char *device) sbus_init(const char *device)
@@ -97,7 +97,7 @@ sbus_init(const char *device)
} }
bool 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; ssize_t ret;
hrt_abstime now; hrt_abstime now;
@@ -154,7 +154,7 @@ sbus_input(uint16_t *values, uint16_t *num_values)
* decode it. * decode it.
*/ */
partial_frame_count = 0; 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 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 */ /* check frame boundary markers to avoid out-of-sync cases */
if ((frame[0] != 0x0f) || (frame[24] != 0x00)) { 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 */ /* we have received something we think is a frame */
last_frame_time = frame_time; last_frame_time = frame_time;
unsigned chancount = (PX4IO_INPUT_CHANNELS > SBUS_INPUT_CHANNELS) ? unsigned chancount = (max_values > SBUS_INPUT_CHANNELS) ?
SBUS_INPUT_CHANNELS : PX4IO_INPUT_CHANNELS; SBUS_INPUT_CHANNELS : max_values;
/* use the decoder matrix to extract channel data */ /* use the decoder matrix to extract channel data */
for (unsigned channel = 0; channel < chancount; channel++) { for (unsigned channel = 0; channel < chancount; channel++) {