diff options
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 | |
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')
-rw-r--r-- | src/modules/px4iofirmware/dsm.c | 21 | ||||
-rw-r--r-- | src/modules/px4iofirmware/protocol.h | 2 | ||||
-rw-r--r-- | src/modules/px4iofirmware/px4io.h | 2 | ||||
-rw-r--r-- | src/modules/px4iofirmware/registers.c | 12 | ||||
-rw-r--r-- | src/modules/sensors/sensor_params.c | 3 |
5 files changed, 25 insertions, 15 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 diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index f5fa0ba75..0e2cd1689 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -165,11 +165,13 @@ #define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */ #define PX4IO_P_SETUP_PWM_ALTRATE 4 /* 'high' PWM frame output rate in Hz */ +#if defined(CONFIG_ARCH_BOARD_PX4IO_V1) || defined(CONFIG_ARCH_BOARD_PX4FMU_V1) #define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */ #define PX4IO_P_SETUP_RELAYS_POWER1 (1<<0) /* hardware rev [1] power relay 1 */ #define PX4IO_P_SETUP_RELAYS_POWER2 (1<<1) /* hardware rev [1] power relay 2 */ #define PX4IO_P_SETUP_RELAYS_ACC1 (1<<2) /* hardware rev [1] accessory power 1 */ #define PX4IO_P_SETUP_RELAYS_ACC2 (1<<3) /* hardware rev [1] accessory power 2 */ +#endif #define PX4IO_P_SETUP_VBATT_SCALE 6 /* hardware rev [1] battery voltage correction factor (float) */ #define PX4IO_P_SETUP_VSERVO_SCALE 6 /* hardware rev [2] servo voltage correction factor (float) */ diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h index 11f4d053d..66c4ca906 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -100,7 +100,9 @@ extern uint16_t r_page_servo_idle[]; /* PX4IO_PAGE_IDLE_PWM */ #define r_setup_pwm_rates r_page_setup[PX4IO_P_SETUP_PWM_RATES] #define r_setup_pwm_defaultrate r_page_setup[PX4IO_P_SETUP_PWM_DEFAULTRATE] #define r_setup_pwm_altrate r_page_setup[PX4IO_P_SETUP_PWM_ALTRATE] +#ifdef CONFIG_ARCH_BOARD_PX4IO_V1 #define r_setup_relays r_page_setup[PX4IO_P_SETUP_RELAYS] +#endif #define r_control_values (&r_page_controls[0]) diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 9c95fd1c5..8cb21e54f 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -145,7 +145,9 @@ volatile uint16_t r_page_setup[] = [PX4IO_P_SETUP_PWM_RATES] = 0, [PX4IO_P_SETUP_PWM_DEFAULTRATE] = 50, [PX4IO_P_SETUP_PWM_ALTRATE] = 200, +#ifdef CONFIG_ARCH_BOARD_PX4IO_V1 [PX4IO_P_SETUP_RELAYS] = 0, +#endif #ifdef ADC_VSERVO [PX4IO_P_SETUP_VSERVO_SCALE] = 10000, #else @@ -462,22 +464,16 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) pwm_configure_rates(r_setup_pwm_rates, r_setup_pwm_defaultrate, value); break; +#ifdef CONFIG_ARCH_BOARD_PX4IO_V1 case PX4IO_P_SETUP_RELAYS: value &= PX4IO_P_SETUP_RELAYS_VALID; r_setup_relays = value; -#ifdef POWER_RELAY1 POWER_RELAY1((value & PX4IO_P_SETUP_RELAYS_POWER1) ? 1 : 0); -#endif -#ifdef POWER_RELAY2 POWER_RELAY2((value & PX4IO_P_SETUP_RELAYS_POWER2) ? 1 : 0); -#endif -#ifdef POWER_ACC1 POWER_ACC1((value & PX4IO_P_SETUP_RELAYS_ACC1) ? 1 : 0); -#endif -#ifdef POWER_ACC2 POWER_ACC2((value & PX4IO_P_SETUP_RELAYS_ACC2) ? 1 : 0); -#endif break; +#endif case PX4IO_P_SETUP_VBATT_SCALE: r_page_setup[PX4IO_P_SETUP_VBATT_SCALE] = value; diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index ed4fcdd46..4d719e0e1 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -164,8 +164,9 @@ PARAM_DEFINE_FLOAT(RC15_MAX, 2000); PARAM_DEFINE_FLOAT(RC15_REV, 1.0f); PARAM_DEFINE_FLOAT(RC15_DZ, 0.0f); - +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */ +#endif PARAM_DEFINE_INT32(RC_DSM_BIND, -1); /* -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind */ #ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 |