diff options
Diffstat (limited to 'src/modules/px4iofirmware/dsm.c')
-rw-r--r-- | src/modules/px4iofirmware/dsm.c | 41 |
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. */ |