Merge branch 'master' into seatbelt_multirotor

1 files changed, 40 insertions, 1 deletions

diff --git a/src/modules/px4iofirmware/dsm.c b/src/modules/px4iofirmware/dsm.c
index ea35e5513..ab6e3fec4 100644
--- a/src/modules/px4iofirmware/dsm.c
+++ b/src/modules/px4iofirmware/dsm.c
@@ -40,6 +40,7 @@
  */
 
 #include <nuttx/config.h>
+#include <nuttx/arch.h>
 
 #include <fcntl.h>
 #include <unistd.h>
@@ -101,6 +102,41 @@ dsm_init(const char *device)
 	return dsm_fd;
 }
 
+void
+dsm_bind(uint16_t cmd, int pulses)
+{
+	const uint32_t usart1RxAsOutp = GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10;
+
+	if (dsm_fd < 0)
+		return;
+
+	switch (cmd) {
+	case dsm_bind_power_down:
+		// power down DSM satellite
+		POWER_RELAY1(0);
+		break;
+	case dsm_bind_power_up:
+		POWER_RELAY1(1);
+		dsm_guess_format(true);
+		break;
+	case dsm_bind_set_rx_out:
+		stm32_configgpio(usart1RxAsOutp); 
+		break;
+	case dsm_bind_send_pulses:
+		for (int i = 0; i < pulses; i++) {
+			stm32_gpiowrite(usart1RxAsOutp, false);
+			up_udelay(50);
+			stm32_gpiowrite(usart1RxAsOutp, true);
+			up_udelay(50);
+		}
+		break;
+	case dsm_bind_reinit_uart:
+		// Restore USART rx pin
+		stm32_configgpio(GPIO_USART1_RX);
+		break;
+	}
+}
+
 bool
 dsm_input(uint16_t *values, uint16_t *num_values)
 {
@@ -218,7 +254,7 @@ dsm_guess_format(bool reset)
 
 	/*
 	 * Iterate the set of sensible sniffed channel sets and see whether
-	 * decoding in 10 or 11-bit mode has yielded anything we recognise.
+	 * decoding in 10 or 11-bit mode has yielded anything we recognize.
 	 *
 	 * XXX Note that due to what seem to be bugs in the DSM2 high-resolution
 	 *     stream, we may want to sniff for longer in some cases when we think we
@@ -349,6 +385,9 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
 		values[channel] = value;
 	}
 
+	if (channel_shift == 11)
+		*num_values |= 0x8000;
+
 	/*
 	 * XXX Note that we may be in failsafe here; we need to work out how to detect that.
 	 */