diff options
Diffstat (limited to 'apps/px4io/sbus.c')
-rw-r--r-- | apps/px4io/sbus.c | 50 |
1 files changed, 27 insertions, 23 deletions
diff --git a/apps/px4io/sbus.c b/apps/px4io/sbus.c index a8f628a84..9679f657b 100644 --- a/apps/px4io/sbus.c +++ b/apps/px4io/sbus.c @@ -88,6 +88,7 @@ sbus_init(const char *device) last_rx_time = hrt_absolute_time(); debug("Sbus: ready"); + } else { debug("Sbus: open failed"); } @@ -109,7 +110,7 @@ sbus_input(void) * frame transmission time is ~2ms. * * We expect to only be called when bytes arrive for processing, - * and if an interval of more than 3ms passes between calls, + * and if an interval of more than 3ms passes between calls, * the first byte we read will be the first byte of a frame. * * In the case where byte(s) are dropped from a frame, this also @@ -117,6 +118,7 @@ sbus_input(void) * if we didn't drop bytes... */ now = hrt_absolute_time(); + if ((now - last_rx_time) > 3000) { if (partial_frame_count > 0) { sbus_frame_drops++; @@ -133,6 +135,7 @@ sbus_input(void) /* if the read failed for any reason, just give up here */ if (ret < 1) goto out; + last_rx_time = now; /* @@ -144,7 +147,7 @@ sbus_input(void) * If we don't have a full frame, return */ if (partial_frame_count < SBUS_FRAME_SIZE) - goto out; + goto out; /* * Great, it looks like we might have a frame. Go ahead and @@ -155,7 +158,7 @@ sbus_input(void) out: /* - * If we have seen a frame in the last 200ms, we consider ourselves 'locked' + * If we have seen a frame in the last 200ms, we consider ourselves 'locked' */ return (now - last_frame_time) < 200000; } @@ -177,23 +180,23 @@ struct sbus_bit_pick { uint8_t mask; uint8_t lshift; }; -static const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3] = { -/* 0 */ { { 0, 0, 0xff, 0},{ 1, 0, 0x07, 8},{ 0, 0, 0x00, 0} }, -/* 1 */ { { 1, 3, 0x1f, 0},{ 2, 0, 0x3f, 5},{ 0, 0, 0x00, 0} }, -/* 2 */ { { 2, 6, 0x03, 0},{ 3, 0, 0xff, 2},{ 4, 0, 0x01, 10} }, -/* 3 */ { { 4, 1, 0x7f, 0},{ 5, 0, 0x0f, 7},{ 0, 0, 0x00, 0} }, -/* 4 */ { { 5, 4, 0x0f, 0},{ 6, 0, 0x7f, 4},{ 0, 0, 0x00, 0} }, -/* 5 */ { { 6, 7, 0x01, 0},{ 7, 0, 0xff, 1},{ 8, 0, 0x03, 9} }, -/* 6 */ { { 8, 2, 0x3f, 0},{ 9, 0, 0x1f, 6},{ 0, 0, 0x00, 0} }, -/* 7 */ { { 9, 5, 0x07, 0},{10, 0, 0xff, 3},{ 0, 0, 0x00, 0} }, -/* 8 */ { {11, 0, 0xff, 0},{12, 0, 0x07, 8},{ 0, 0, 0x00, 0} }, -/* 9 */ { {12, 3, 0x1f, 0},{13, 0, 0x3f, 5},{ 0, 0, 0x00, 0} }, -/* 10 */ { {13, 6, 0x03, 0},{14, 0, 0xff, 2},{15, 0, 0x01, 10} }, -/* 11 */ { {15, 1, 0x7f, 0},{16, 0, 0x0f, 7},{ 0, 0, 0x00, 0} }, -/* 12 */ { {16, 4, 0x0f, 0},{17, 0, 0x7f, 4},{ 0, 0, 0x00, 0} }, -/* 13 */ { {17, 7, 0x01, 0},{18, 0, 0xff, 1},{19, 0, 0x03, 9} }, -/* 14 */ { {19, 2, 0x3f, 0},{20, 0, 0x1f, 6},{ 0, 0, 0x00, 0} }, -/* 15 */ { {20, 5, 0x07, 0},{21, 0, 0xff, 3},{ 0, 0, 0x00, 0} } +static const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3] = { + /* 0 */ { { 0, 0, 0xff, 0}, { 1, 0, 0x07, 8}, { 0, 0, 0x00, 0} }, + /* 1 */ { { 1, 3, 0x1f, 0}, { 2, 0, 0x3f, 5}, { 0, 0, 0x00, 0} }, + /* 2 */ { { 2, 6, 0x03, 0}, { 3, 0, 0xff, 2}, { 4, 0, 0x01, 10} }, + /* 3 */ { { 4, 1, 0x7f, 0}, { 5, 0, 0x0f, 7}, { 0, 0, 0x00, 0} }, + /* 4 */ { { 5, 4, 0x0f, 0}, { 6, 0, 0x7f, 4}, { 0, 0, 0x00, 0} }, + /* 5 */ { { 6, 7, 0x01, 0}, { 7, 0, 0xff, 1}, { 8, 0, 0x03, 9} }, + /* 6 */ { { 8, 2, 0x3f, 0}, { 9, 0, 0x1f, 6}, { 0, 0, 0x00, 0} }, + /* 7 */ { { 9, 5, 0x07, 0}, {10, 0, 0xff, 3}, { 0, 0, 0x00, 0} }, + /* 8 */ { {11, 0, 0xff, 0}, {12, 0, 0x07, 8}, { 0, 0, 0x00, 0} }, + /* 9 */ { {12, 3, 0x1f, 0}, {13, 0, 0x3f, 5}, { 0, 0, 0x00, 0} }, + /* 10 */ { {13, 6, 0x03, 0}, {14, 0, 0xff, 2}, {15, 0, 0x01, 10} }, + /* 11 */ { {15, 1, 0x7f, 0}, {16, 0, 0x0f, 7}, { 0, 0, 0x00, 0} }, + /* 12 */ { {16, 4, 0x0f, 0}, {17, 0, 0x7f, 4}, { 0, 0, 0x00, 0} }, + /* 13 */ { {17, 7, 0x01, 0}, {18, 0, 0xff, 1}, {19, 0, 0x03, 9} }, + /* 14 */ { {19, 2, 0x3f, 0}, {20, 0, 0x1f, 6}, { 0, 0, 0x00, 0} }, + /* 15 */ { {20, 5, 0x07, 0}, {21, 0, 0xff, 3}, { 0, 0, 0x00, 0} } }; static void @@ -213,8 +216,8 @@ sbus_decode(hrt_abstime frame_time) /* we have received something we think is a frame */ last_frame_time = frame_time; - unsigned chancount = (PX4IO_INPUT_CHANNELS > SBUS_INPUT_CHANNELS) ? - SBUS_INPUT_CHANNELS : PX4IO_INPUT_CHANNELS; + unsigned chancount = (PX4IO_INPUT_CHANNELS > SBUS_INPUT_CHANNELS) ? + SBUS_INPUT_CHANNELS : PX4IO_INPUT_CHANNELS; /* use the decoder matrix to extract channel data */ for (unsigned channel = 0; channel < chancount; channel++) { @@ -232,6 +235,7 @@ sbus_decode(hrt_abstime frame_time) value |= piece; } } + /* convert 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */ system_state.rc_channel_data[channel] = (value / 2) + 998; } @@ -245,7 +249,7 @@ sbus_decode(hrt_abstime frame_time) system_state.rc_channels = chancount; /* and note that we have received data from the R/C controller */ - system_state.rc_channels_timestamp = frame_time; + system_state.rc_channels_timestamp = frame_time; /* trigger an immediate report to the FMU */ system_state.fmu_report_due = true; |