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| author | Jean Cyr <jcyr@dillobits.com> | 2013-09-18 20:04:22 -0400 |
|---|---|---|
| committer | Jean Cyr <jcyr@dillobits.com> | 2013-09-18 20:04:22 -0400 |
| commit | 89d3e1db281414571fb55b87fb87385a97263cf1 (patch) | |
| tree | 2632dde353627381bb48af2e308de1c705c130e8 /src/modules/px4iofirmware/dsm.c | |
| parent | 626f433630697a630e5063f4f53cfa570bb4a9df (diff) | |
| download | px4-firmware-89d3e1db281414571fb55b87fb87385a97263cf1.tar.gz px4-firmware-89d3e1db281414571fb55b87fb87385a97263cf1.tar.bz2 px4-firmware-89d3e1db281414571fb55b87fb87385a97263cf1.zip | |
Implement Spektrum DSM pairing in V2
- Bind control for V2
- Relays and accessory power not supported on V2 hardware
Diffstat (limited to 'src/modules/px4iofirmware/dsm.c')
| -rw-r--r-- | src/modules/px4iofirmware/dsm.c | 21 |
1 files changed, 15 insertions, 6 deletions
diff --git a/src/modules/px4iofirmware/dsm.c b/src/modules/px4iofirmware/dsm.c index 206e27db5..fd6bca62a 100644 --- a/src/modules/px4iofirmware/dsm.c +++ b/src/modules/px4iofirmware/dsm.c @@ -243,28 +243,35 @@ dsm_init(const char *device) void dsm_bind(uint16_t cmd, int pulses) { +#if !(defined(CONFIG_ARCH_BOARD_PX4IO_V1) || defined(CONFIG_ARCH_BOARD_PX4IO_V2)) + #warning DSM BIND NOT IMPLEMENTED ON UNKNOWN PLATFORM +#else const uint32_t usart1RxAsOutp = GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN10; if (dsm_fd < 0) return; -#ifdef CONFIG_ARCH_BOARD_PX4IO_V2 - // XXX implement - #warning DSM BIND NOT IMPLEMENTED ON PX4IO V2 -#else switch (cmd) { case dsm_bind_power_down: /*power down DSM satellite*/ +#ifdef CONFIG_ARCH_BOARD_PX4IO_V1 POWER_RELAY1(0); +#else /* CONFIG_ARCH_BOARD_PX4IO_V2 */ + POWER_SPEKTRUM(0); +#endif break; case dsm_bind_power_up: /*power up DSM satellite*/ +#ifdef CONFIG_ARCH_BOARD_PX4IO_V1 POWER_RELAY1(1); +#else /* CONFIG_ARCH_BOARD_PX4IO_V2 */ + POWER_SPEKTRUM(1); +#endif dsm_guess_format(true); break; @@ -387,8 +394,10 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values) values[channel] = value; } - if (dsm_channel_shift == 11) + if (dsm_channel_shift == 11) { + /* Set the 11-bit data indicator */ *num_values |= 0x8000; + } /* * XXX Note that we may be in failsafe here; we need to work out how to detect that. @@ -412,7 +421,7 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values) * Upon receiving a full dsm frame we attempt to decode it. * * @param[out] values pointer to per channel array of decoded values - * @param[out] num_values pointer to number of raw channel values returned + * @param[out] num_values pointer to number of raw channel values returned, high order bit 0:10 bit data, 1:11 bit data * @return true=decoded raw channel values updated, false=no update */ bool |