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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-18 12:00:17 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-18 12:00:17 +0100 |
| commit | d174998b45349348ffe41150aa1d22d7d943b790 (patch) | |
| tree | c8dd4a7513038dc66294e33c94643f57813e759e | |
| parent | dd9df7b1b0974a9838d3e21842a0d90f3eff54d9 (diff) | |
| download | px4-firmware-d174998b45349348ffe41150aa1d22d7d943b790.tar.gz px4-firmware-d174998b45349348ffe41150aa1d22d7d943b790.tar.bz2 px4-firmware-d174998b45349348ffe41150aa1d22d7d943b790.zip | |
RSSI and concurrent S.Bus output handling
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 6 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/controls.c | 9 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/px4io.c | 5 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/px4io.h | 1 |
4 files changed, 19 insertions, 2 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index dede5976d..8e080c043 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1453,8 +1453,10 @@ PX4IO::io_publish_raw_rc() /* set RSSI */ - // XXX the correct scaling needs to be validated here - rc_val.rssi = (_servorail_status.rssi_v / 3.3f) * UINT8_MAX; + if (rc_val.input_source != RC_INPUT_SOURCE_PX4IO_SBUS) { + // XXX the correct scaling needs to be validated here + rc_val.rssi = (_servorail_status.rssi_v / 3.3f) * UINT8_MAX; + } /* lazily advertise on first publication */ if (_to_input_rc == 0) { diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 541eed0e1..5859f768b 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -114,9 +114,18 @@ controls_tick() { perf_begin(c_gather_sbus); bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &rssi, PX4IO_RC_INPUT_CHANNELS); + + bool sbus_status = (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_SBUS); + if (sbus_updated) { r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS; } + + /* switch S.Bus output pin as needed */ + if (sbus_status != (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_SBUS)) { + ENABLE_SBUS_OUT((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_SBUS)); + } + perf_end(c_gather_sbus); /* diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c index 0b8c4a6a8..150af35df 100644 --- a/src/modules/px4iofirmware/px4io.c +++ b/src/modules/px4iofirmware/px4io.c @@ -196,6 +196,11 @@ user_start(int argc, char *argv[]) POWER_SERVO(true); #endif + /* turn off S.Bus out (if supported) */ +#ifdef ENABLE_SBUS_OUT + ENABLE_SBUS_OUT(false); +#endif + /* start the safety switch handler */ safety_init(); diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h index a0daa97ea..18c7468f6 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -160,6 +160,7 @@ extern pwm_limit_t pwm_limit; # define PX4IO_RELAY_CHANNELS 0 # define POWER_SPEKTRUM(_s) stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_s)) +# define ENABLE_SBUS_OUT(_s) stm32_gpiowrite(GPIO_SBUS_OENABLE, (_s)) # define VDD_SERVO_FAULT (!stm32_gpioread(GPIO_SERVO_FAULT_DETECT)) |