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Use PPM [usec] values for radio config files with SBUS

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This commit is contained in:
Martin Mueller
2014-03-21 21:19:59 +00:00
committed by Gautier Hattenberger
parent 6d036b947a
commit e80fe86f07
3 changed files with 22 additions and 15 deletions
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conf/radios/T10CG_SBUS.xml
+7 -7
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@@ -45,11 +45,11 @@
<!DOCTYPE radio SYSTEM "radio.dtd">
<radio name="Futaba T10CG with SBUS" data_min="900" data_max="2100" sync_min ="5000" sync_max ="15000" pulse_type="POSITIVE">
<channel ctl="A" function="ROLL" min="363" neutral="1024" max="1683" average="0"/>
<channel ctl="B" function="PITCH" min="363" neutral="1024" max="1683" average="0"/>
<channel ctl="C" function="THROTTLE" min="1683" neutral="1683" max="363" average="0"/>
<channel ctl="D" function="YAW" min="363" neutral="1024" max="1683" average="0"/>
<channel ctl="E" function="MODE" max="137" neutral="1024" min="1908" average="1"/>
<channel ctl="F" function="GAIN1" min="137" neutral="1024" max="1908" average="0"/>
<channel ctl="G" function="GAIN2" min="137" neutral="1024" max="1908" average="0"/>
<channel ctl="A" function="ROLL" min="1107" neutral="1520" max="1932" average="0"/>
<channel ctl="B" function="PITCH" min="1107" neutral="1520" max="1932" average="0"/>
<channel ctl="C" function="THROTTLE" min="1932" neutral="1932" max="1107" average="0"/>
<channel ctl="D" function="YAW" min="1107" neutral="1520" max="1932" average="0"/>
<channel ctl="E" function="MODE" max="966" neutral="1520" min="2072" average="1"/>
<channel ctl="F" function="GAIN1" min="966" neutral="1520" max="2072" average="0"/>
<channel ctl="G" function="GAIN2" min="966" neutral="1520" max="2072" average="0"/>
</radio>
sw/airborne/subsystems/radio_control/sbus.c
+7 -4
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@@ -70,9 +70,9 @@ struct _sbus sbus;
#include "subsystems/datalink/telemetry.h"
static void send_sbus(void) {
// Using PPM message for simplicity
// Using PPM message
DOWNLINK_SEND_PPM(DefaultChannel, DefaultDevice,
&radio_control.frame_rate, SBUS_NB_CHANNEL, sbus.pulses);
&radio_control.frame_rate, SBUS_NB_CHANNEL, sbus.ppm);
}
#endif
@@ -99,7 +99,7 @@ void radio_control_impl_init(void) {
/** Decode the raw buffer */
static void decode_sbus_buffer (const uint8_t *src, uint16_t *dst, bool_t *available)
static void decode_sbus_buffer (const uint8_t *src, uint16_t *dst, bool_t *available, uint16_t *dstppm)
{
// reset counters
uint8_t byteInRawBuf = 0;
@@ -124,6 +124,9 @@ static void decode_sbus_buffer (const uint8_t *src, uint16_t *dst, bool_t *avail
}
if (bitInChannel == SBUS_BIT_PER_CHANNEL) {
bitInChannel = 0;
#if PERIODIC_TELEMETRY
dstppm[channel] = USEC_OF_RC_PPM_TICKS(dst[channel]);
#endif
channel++;
}
}
@@ -153,7 +156,7 @@ void sbus_decode_event(void) {
if (sbus.idx == SBUS_BUF_LENGTH) {
// Decode if last byte is the correct end byte
if (rbyte == SBUS_END_BYTE) {
decode_sbus_buffer(sbus.buffer, sbus.pulses, &sbus.frame_available);
decode_sbus_buffer(sbus.buffer, sbus.pulses, &sbus.frame_available, sbus.ppm);
}
sbus.status = SBUS_STATUS_UNINIT;
}
sw/airborne/subsystems/radio_control/sbus.h
+8 -4
View File
@@ -30,11 +30,14 @@
#include "std.h"
/**
* Dummy macro to use radio.h file
* Macro to use radio.h file
*
* SBUS: 0..1024..2047 (sweep 2048)
* PPM: 880..1520..2160 (sweep 1280)
*/
#define RC_PPM_TICKS_OF_USEC(_v) (_v)
#define RC_PPM_SIGNED_TICKS_OF_USEC(_v) (_v)
#define USEC_OF_RC_PPM_TICKS(_v) (_v)
#define RC_PPM_TICKS_OF_USEC(_v) ((((_v) - 880) * 8) / 5)
#define RC_PPM_SIGNED_TICKS_OF_USEC(_v) (((_v) * 8) / 5)
#define USEC_OF_RC_PPM_TICKS(_v) ((((_v) * 5) / 8) + 880)
/**
* Generated code holding the description of a given
@@ -60,6 +63,7 @@
*/
struct _sbus {
uint16_t pulses[SBUS_NB_CHANNEL]; ///< decoded values
uint16_t ppm[SBUS_NB_CHANNEL]; ///< decoded and converted values
bool_t frame_available; ///< new frame available
uint8_t buffer[SBUS_BUF_LENGTH]; ///< input buffer
uint8_t idx; ///< input index