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author | Anton Babushkin <anton.babushkin@me.com> | 2013-12-25 18:31:12 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2013-12-25 18:31:12 +0400 |
commit | 1e4bb764a61335c0e209f83438e74264e972a164 (patch) | |
tree | 1d4fd2c9616ee7953eea17ab0c3e37fe49c05b47 /src/modules | |
parent | f36ffe0859912e2976df5b2cabc87018d3f55f4e (diff) | |
parent | 8d2950561d1889ab1d4c2fc5d832a2984048487d (diff) | |
download | px4-firmware-1e4bb764a61335c0e209f83438e74264e972a164.tar.gz px4-firmware-1e4bb764a61335c0e209f83438e74264e972a164.tar.bz2 px4-firmware-1e4bb764a61335c0e209f83438e74264e972a164.zip |
Merge branch 'mathlib_new' into vector_control2
Diffstat (limited to 'src/modules')
-rw-r--r-- | src/modules/px4iofirmware/controls.c | 16 | ||||
-rw-r--r-- | src/modules/px4iofirmware/protocol.h | 3 | ||||
-rw-r--r-- | src/modules/px4iofirmware/registers.c | 6 | ||||
-rw-r--r-- | src/modules/px4iofirmware/sbus.c | 2 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2.c | 1 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 3 | ||||
-rw-r--r-- | src/modules/sensors/sensor_params.c | 1 | ||||
-rw-r--r-- | src/modules/systemlib/perf_counter.c | 3 | ||||
-rw-r--r-- | src/modules/systemlib/ppm_decode.h | 1 |
9 files changed, 24 insertions, 12 deletions
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 194d8aab9..ed29c8339 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -50,7 +50,7 @@ #define RC_CHANNEL_HIGH_THRESH 5000 #define RC_CHANNEL_LOW_THRESH -5000 -static bool ppm_input(uint16_t *values, uint16_t *num_values); +static bool ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len); static perf_counter_t c_gather_dsm; static perf_counter_t c_gather_sbus; @@ -94,7 +94,7 @@ controls_tick() { * other. Don't do that. */ - /* receive signal strenght indicator (RSSI). 0 = no connection, 1000: perfect connection */ + /* receive signal strenght indicator (RSSI). 0 = no connection, 255: perfect connection */ uint16_t rssi = 0; perf_begin(c_gather_dsm); @@ -108,7 +108,7 @@ controls_tick() { else r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RC_DSM11; - rssi = 1000; + rssi = 255; } perf_end(c_gather_dsm); @@ -125,11 +125,11 @@ controls_tick() { * disable the PPM decoder completely if we have S.bus signal. */ perf_begin(c_gather_ppm); - bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count); + bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count, &r_page_status[PX4IO_P_STATUS_RC_DATA]); if (ppm_updated) { /* XXX sample RSSI properly here */ - rssi = 1000; + rssi = 255; r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM; } @@ -319,7 +319,7 @@ controls_tick() { } static bool -ppm_input(uint16_t *values, uint16_t *num_values) +ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len) { bool result = false; @@ -343,6 +343,10 @@ ppm_input(uint16_t *values, uint16_t *num_values) /* clear validity */ ppm_last_valid_decode = 0; + /* store PPM frame length */ + if (num_values) + *frame_len = ppm_frame_length; + /* good if we got any channels */ result = (*num_values > 0); } diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 11e380397..500e0ed4b 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -124,7 +124,8 @@ #define PX4IO_P_STATUS_VSERVO 6 /* [2] servo rail voltage in mV */ #define PX4IO_P_STATUS_VRSSI 7 /* [2] RSSI voltage */ #define PX4IO_P_STATUS_PRSSI 8 /* [2] RSSI PWM value */ -#define PX4IO_P_STATUS_NRSSI 9 /* [2] Normalized RSSI value, 0: no reception, 1000: perfect reception */ +#define PX4IO_P_STATUS_NRSSI 9 /* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */ +#define PX4IO_P_STATUS_RC_DATA 10 /* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */ /* array of post-mix actuator outputs, -10000..10000 */ #define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */ diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 3f9e111ba..6aa3a5cd2 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -89,7 +89,9 @@ uint16_t r_page_status[] = { [PX4IO_P_STATUS_IBATT] = 0, [PX4IO_P_STATUS_VSERVO] = 0, [PX4IO_P_STATUS_VRSSI] = 0, - [PX4IO_P_STATUS_PRSSI] = 0 + [PX4IO_P_STATUS_PRSSI] = 0, + [PX4IO_P_STATUS_NRSSI] = 0, + [PX4IO_P_STATUS_RC_DATA] = 0 }; /** @@ -114,7 +116,7 @@ uint16_t r_page_servos[PX4IO_SERVO_COUNT]; uint16_t r_page_raw_rc_input[] = { [PX4IO_P_RAW_RC_COUNT] = 0, - [PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + 24)] = 0 // XXX ensure we have enough space to decode beefy RX, will be replaced by patch soon + [PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + PX4IO_CONTROL_CHANNELS)] = 0 // XXX ensure we have enough space to decode beefy RX, will be replaced by patch soon }; /** diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c index 388502b40..3dcfe7f5b 100644 --- a/src/modules/px4iofirmware/sbus.c +++ b/src/modules/px4iofirmware/sbus.c @@ -280,7 +280,7 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint *rssi = 100; // XXX magic number indicating bad signal, but not a signal loss (yet) } - *rssi = 1000; + *rssi = 255; return true; } diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index bbdef3677..da7586de0 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1208,6 +1208,7 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.msg_type = LOG_RC_MSG; /* Copy only the first 8 channels of 14 */ memcpy(log_msg.body.log_RC.channel, buf.rc.chan, sizeof(log_msg.body.log_RC.channel)); + log_msg.body.log_RC.channel_count = buf.rc.chan_count; LOGBUFFER_WRITE_AND_COUNT(RC); } diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 2bbde18fc..6bfc8606e 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -159,6 +159,7 @@ struct log_STAT_s { #define LOG_RC_MSG 11 struct log_RC_s { float channel[8]; + uint8_t channel_count; }; /* --- OUT0 - ACTUATOR_0 OUTPUT --- */ @@ -291,7 +292,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"), LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"), LOG_FORMAT(STAT, "BBBfffBB", "MainState,NavState,ArmState,BatV,BatC,BatRem,BatWarn,Landed"), - LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"), + LOG_FORMAT(RC, "ffffffffB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count"), LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"), LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"), LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"), diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 2aa15420a..78d4b410a 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -195,6 +195,7 @@ 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 */ +PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000); #ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f); #else diff --git a/src/modules/systemlib/perf_counter.c b/src/modules/systemlib/perf_counter.c index bf84b7945..b4ca0ed3e 100644 --- a/src/modules/systemlib/perf_counter.c +++ b/src/modules/systemlib/perf_counter.c @@ -295,10 +295,11 @@ perf_print_counter(perf_counter_t handle) case PC_ELAPSED: { struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle; - printf("%s: %llu events, %lluus elapsed, min %lluus max %lluus\n", + printf("%s: %llu events, %lluus elapsed, %llu avg, min %lluus max %lluus\n", handle->name, pce->event_count, pce->time_total, + pce->time_total / pce->event_count, pce->time_least, pce->time_most); break; diff --git a/src/modules/systemlib/ppm_decode.h b/src/modules/systemlib/ppm_decode.h index 6c5e15345..5a1ad84da 100644 --- a/src/modules/systemlib/ppm_decode.h +++ b/src/modules/systemlib/ppm_decode.h @@ -57,6 +57,7 @@ __BEGIN_DECLS * PPM decoder state */ __EXPORT extern uint16_t ppm_buffer[PPM_MAX_CHANNELS]; /**< decoded PPM channel values */ +__EXPORT extern uint16_t ppm_frame_length; /**< length of the decoded PPM frame (includes gap) */ __EXPORT extern unsigned ppm_decoded_channels; /**< count of decoded channels */ __EXPORT extern hrt_abstime ppm_last_valid_decode; /**< timestamp of the last valid decode */ |