diff options
Diffstat (limited to 'apps/px4io/dsm.c')
| -rw-r--r-- | apps/px4io/dsm.c | 50 |
1 files changed, 19 insertions, 31 deletions
diff --git a/apps/px4io/dsm.c b/apps/px4io/dsm.c index 869c27b1b..ea35e5513 100644 --- a/apps/px4io/dsm.c +++ b/apps/px4io/dsm.c @@ -43,17 +43,13 @@ #include <fcntl.h> #include <unistd.h> -#include <string.h> #include <termios.h> -#include <systemlib/ppm_decode.h> - #include <drivers/drv_hrt.h> #define DEBUG #include "px4io.h" -#include "protocol.h" #define DSM_FRAME_SIZE 16 #define DSM_FRAME_CHANNELS 7 @@ -72,13 +68,13 @@ unsigned dsm_frame_drops; static bool dsm_decode_channel(uint16_t raw, unsigned shift, unsigned *channel, unsigned *value); static void dsm_guess_format(bool reset); -static void dsm_decode(hrt_abstime now); +static bool dsm_decode(hrt_abstime now, uint16_t *values, uint16_t *num_values); int dsm_init(const char *device) { if (dsm_fd < 0) - dsm_fd = open(device, O_RDONLY); + dsm_fd = open(device, O_RDONLY | O_NONBLOCK); if (dsm_fd >= 0) { struct termios t; @@ -106,7 +102,7 @@ dsm_init(const char *device) } bool -dsm_input(void) +dsm_input(uint16_t *values, uint16_t *num_values) { ssize_t ret; hrt_abstime now; @@ -143,7 +139,7 @@ dsm_input(void) /* if the read failed for any reason, just give up here */ if (ret < 1) - goto out; + return false; last_rx_time = now; @@ -156,20 +152,14 @@ dsm_input(void) * If we don't have a full frame, return */ if (partial_frame_count < DSM_FRAME_SIZE) - goto out; + return false; /* * Great, it looks like we might have a frame. Go ahead and * decode it. */ - dsm_decode(now); partial_frame_count = 0; - -out: - /* - * If we have seen a frame in the last 200ms, we consider ourselves 'locked' - */ - return (now - last_frame_time) < 200000; + return dsm_decode(now, values, num_values); } static bool @@ -259,23 +249,23 @@ dsm_guess_format(bool reset) if ((votes11 == 1) && (votes10 == 0)) { channel_shift = 11; - debug("DSM: detected 11-bit format"); + debug("DSM: 11-bit format"); return; } if ((votes10 == 1) && (votes11 == 0)) { channel_shift = 10; - debug("DSM: detected 10-bit format"); + debug("DSM: 10-bit format"); return; } /* call ourselves to reset our state ... we have to try again */ - debug("DSM: format detector failed, 10: 0x%08x %d 11: 0x%08x %d", cs10, votes10, cs11, votes11); + debug("DSM: format detect fail, 10: 0x%08x %d 11: 0x%08x %d", cs10, votes10, cs11, votes11); dsm_guess_format(true); } -static void -dsm_decode(hrt_abstime frame_time) +static bool +dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values) { /* @@ -296,7 +286,7 @@ dsm_decode(hrt_abstime frame_time) /* if we don't know the frame format, update the guessing state machine */ if (channel_shift == 0) { dsm_guess_format(false); - return; + return false; } /* @@ -324,8 +314,8 @@ dsm_decode(hrt_abstime frame_time) continue; /* update the decoded channel count */ - if (channel >= system_state.rc_channels) - system_state.rc_channels = channel + 1; + if (channel >= *num_values) + *num_values = channel + 1; /* convert 0-1024 / 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */ if (channel_shift == 11) @@ -356,13 +346,11 @@ dsm_decode(hrt_abstime frame_time) break; } - system_state.rc_channel_data[channel] = value; + values[channel] = value; } - /* and note that we have received data from the R/C controller */ - /* XXX failsafe will cause problems here - need a strategy for detecting it */ - system_state.rc_channels_timestamp = frame_time; - - /* trigger an immediate report to the FMU */ - system_state.fmu_report_due = true; + /* + * XXX Note that we may be in failsafe here; we need to work out how to detect that. + */ + return true; } |