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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-02-18 10:37:32 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-02-21 08:37:12 +0100 |
| commit | a91b68d8a52709c5ce3ce465cad3b7e5a5e34f66 (patch) | |
| tree | 7e22e4c478e643fe538c65180e3afb38f8db5383 | |
| parent | 603069f16928f11c50597d97e0025f6dfc4cab4a (diff) | |
| download | px4-firmware-a91b68d8a52709c5ce3ce465cad3b7e5a5e34f66.tar.gz px4-firmware-a91b68d8a52709c5ce3ce465cad3b7e5a5e34f66.tar.bz2 px4-firmware-a91b68d8a52709c5ce3ce465cad3b7e5a5e34f66.zip | |
Fix DSM pairing error handling.
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 30 |
1 files changed, 20 insertions, 10 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 13326e962..7c7b3dcb7 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -2112,14 +2112,24 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg) break; case DSM_BIND_START: - io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down); - 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(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); + + /* only allow DSM2, DSM-X and DSM-X with more than 7 channels */ + if (arg == DSM2_BIND_PULSES || + arg == DSMX_BIND_PULSES || + arg == DSMX8_BIND_PULSES) { + io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down); + 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(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); + + ret = OK; + } else { + ret = -EINVAL; + } break; case DSM_BIND_POWER_UP: @@ -2612,7 +2622,7 @@ bind(int argc, char *argv[]) #endif if (argc < 3) - errx(0, "needs argument, use dsm2 or dsmx"); + errx(0, "needs argument, use dsm2, dsmx or dsmx8"); if (!strcmp(argv[2], "dsm2")) pulses = DSM2_BIND_PULSES; @@ -2621,7 +2631,7 @@ bind(int argc, char *argv[]) else if (!strcmp(argv[2], "dsmx8")) pulses = DSMX8_BIND_PULSES; else - errx(1, "unknown parameter %s, use dsm2 or dsmx", argv[2]); + errx(1, "unknown parameter %s, use dsm2, dsmx or dsmx8", argv[2]); // Test for custom pulse parameter if (argc > 3) pulses = atoi(argv[3]); |