From 9315796020339906d30580892f57abcdc1238b0c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 12 Feb 2014 07:55:22 +0100 Subject: Enable S.BUS TX pin --- nuttx-configs/px4io-v2/include/board.h | 2 -- 1 file changed, 2 deletions(-) diff --git a/nuttx-configs/px4io-v2/include/board.h b/nuttx-configs/px4io-v2/include/board.h index 4b9c90638..17e77918b 100755 --- a/nuttx-configs/px4io-v2/include/board.h +++ b/nuttx-configs/px4io-v2/include/board.h @@ -103,8 +103,6 @@ #define GPIO_USART2_RTS 0xffffffff #undef GPIO_USART2_CK #define GPIO_USART2_CK 0xffffffff -#undef GPIO_USART3_TX -#define GPIO_USART3_TX 0xffffffff #undef GPIO_USART3_CK #define GPIO_USART3_CK 0xffffffff #undef GPIO_USART3_CTS -- cgit v1.2.3 From 500ac69ee46ad582eee5a4321bd53665e17032da Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 12 Feb 2014 08:13:53 +0100 Subject: Build test code for S.BUS output, send test characters once S.BUS1 or S.BUS2 is enabled --- src/modules/px4iofirmware/mixer.cpp | 14 ++++++++++++++ src/modules/px4iofirmware/px4io.h | 2 ++ src/modules/px4iofirmware/sbus.c | 14 +++++++++++++- 3 files changed, 29 insertions(+), 1 deletion(-) diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index f39fcf7ec..3eaecc38b 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -254,10 +254,24 @@ mixer_tick(void) for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) up_pwm_servo_set(i, r_page_servos[i]); + /* set S.BUS1 or S.BUS2 outputs */ + if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) + sbus1_output(r_page_servos, PX4IO_SERVO_COUNT); + + if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) + sbus2_output(r_page_servos, PX4IO_SERVO_COUNT); + } else if (mixer_servos_armed && should_always_enable_pwm) { /* set the disarmed servo outputs. */ for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) up_pwm_servo_set(i, r_page_servo_disarmed[i]); + + /* set S.BUS1 or S.BUS2 outputs */ + if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) + sbus1_output(r_page_servos, PX4IO_SERVO_COUNT); + + if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) + sbus2_output(r_page_servos, PX4IO_SERVO_COUNT); } } diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h index bb224f388..0e9fee8ae 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -218,6 +218,8 @@ extern bool dsm_input(uint16_t *values, uint16_t *num_values); extern void dsm_bind(uint16_t cmd, int pulses); extern int sbus_init(const char *device); extern bool sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels); +extern bool sbus1_output(uint16_t *values, uint16_t num_values); +extern bool sbus2_output(uint16_t *values, uint16_t num_values); /** global debug level for isr_debug() */ extern volatile uint8_t debug_level; diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c index f6ec542eb..86240d36a 100644 --- a/src/modules/px4iofirmware/sbus.c +++ b/src/modules/px4iofirmware/sbus.c @@ -93,7 +93,7 @@ int sbus_init(const char *device) { if (sbus_fd < 0) - sbus_fd = open(device, O_RDONLY | O_NONBLOCK); + sbus_fd = open(device, O_RDWR | O_NONBLOCK); if (sbus_fd >= 0) { struct termios t; @@ -117,6 +117,18 @@ sbus_init(const char *device) return sbus_fd; } +bool +sbus1_output(uint16_t *values, uint16_t num_values) +{ + write(sbus_fd, 'A', 1); +} + +bool +sbus2_output(uint16_t *values, uint16_t num_values) +{ + write(sbus_fd, 'B', 1); +} + bool sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels) { -- cgit v1.2.3 From 85ec7fb40aab728ba477ffd75f48c2c731fb56fa Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 12 Feb 2014 08:47:01 +0100 Subject: test loop --- src/modules/px4iofirmware/sbus.c | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c index 86240d36a..39230d274 100644 --- a/src/modules/px4iofirmware/sbus.c +++ b/src/modules/px4iofirmware/sbus.c @@ -114,6 +114,14 @@ sbus_init(const char *device) debug("S.Bus: open failed"); } + ENABLE_SBUS_OUT(true); + + while (1) { + const char* hello = 'HELLO WORLD'; + if (write(sbus_fd, hello, strlen(hello)) != strlen(hello)) + break; + } + return sbus_fd; } -- cgit v1.2.3 From 3bcf34098a9fd07c0693e918396d2e3fde0fa1e8 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 12 Feb 2014 08:50:44 +0100 Subject: Fix quotation marks --- src/modules/px4iofirmware/sbus.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c index 39230d274..6608392d0 100644 --- a/src/modules/px4iofirmware/sbus.c +++ b/src/modules/px4iofirmware/sbus.c @@ -117,7 +117,7 @@ sbus_init(const char *device) ENABLE_SBUS_OUT(true); while (1) { - const char* hello = 'HELLO WORLD'; + const char* hello = "HELLO WORLD"; if (write(sbus_fd, hello, strlen(hello)) != strlen(hello)) break; } -- cgit v1.2.3 From bc3f95fc07fb01edecfa9147023a354f1f237e92 Mon Sep 17 00:00:00 2001 From: px4dev Date: Wed, 12 Feb 2014 00:48:15 -0800 Subject: Turn off JTAG completely in a vain attempt to get PB4 free for SBUS enable. --- nuttx-configs/px4io-v2/nsh/defconfig | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/nuttx-configs/px4io-v2/nsh/defconfig b/nuttx-configs/px4io-v2/nsh/defconfig index 4111e70eb..2c63b8819 100755 --- a/nuttx-configs/px4io-v2/nsh/defconfig +++ b/nuttx-configs/px4io-v2/nsh/defconfig @@ -104,7 +104,7 @@ CONFIG_ARMV7M_CMNVECTOR=y # CONFIG_STM32_JTAG_SW_ENABLE - Set JTAG-DP disabled and SW-DP enabled # CONFIG_STM32_DFU=n -CONFIG_STM32_JTAG_FULL_ENABLE=y +CONFIG_STM32_JTAG_FULL_ENABLE=n CONFIG_STM32_JTAG_NOJNTRST_ENABLE=n CONFIG_STM32_JTAG_SW_ENABLE=n -- cgit v1.2.3 From ca2ad0051d2c5a31aa6050cc88f5c7d6c2997036 Mon Sep 17 00:00:00 2001 From: px4dev Date: Wed, 12 Feb 2014 00:48:53 -0800 Subject: Be more enthusiastic with the sbus enable pin. Still no love. --- src/modules/px4iofirmware/sbus.c | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c index 6608392d0..32be93d4c 100644 --- a/src/modules/px4iofirmware/sbus.c +++ b/src/modules/px4iofirmware/sbus.c @@ -114,12 +114,14 @@ sbus_init(const char *device) debug("S.Bus: open failed"); } - ENABLE_SBUS_OUT(true); + stm32_configgpio(GPIO_SBUS_OENABLE); while (1) { + ENABLE_SBUS_OUT(true); const char* hello = "HELLO WORLD"; if (write(sbus_fd, hello, strlen(hello)) != strlen(hello)) break; + ENABLE_SBUS_OUT(false); } return sbus_fd; -- cgit v1.2.3 From cec6b8925e727710884042f9b45c105aa8c4d5af Mon Sep 17 00:00:00 2001 From: px4dev Date: Wed, 12 Feb 2014 22:10:45 -0800 Subject: Don't leave all JTAG off... it will make you very sad --- nuttx-configs/px4io-v2/nsh/defconfig | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/nuttx-configs/px4io-v2/nsh/defconfig b/nuttx-configs/px4io-v2/nsh/defconfig index 2c63b8819..e6563e587 100755 --- a/nuttx-configs/px4io-v2/nsh/defconfig +++ b/nuttx-configs/px4io-v2/nsh/defconfig @@ -106,7 +106,7 @@ CONFIG_ARMV7M_CMNVECTOR=y CONFIG_STM32_DFU=n CONFIG_STM32_JTAG_FULL_ENABLE=n CONFIG_STM32_JTAG_NOJNTRST_ENABLE=n -CONFIG_STM32_JTAG_SW_ENABLE=n +CONFIG_STM32_JTAG_SW_ENABLE=y # # Individual subsystems can be enabled: -- cgit v1.2.3 From dd432e66032c3cb1cb6f65536c28af1dd9f97317 Mon Sep 17 00:00:00 2001 From: px4dev Date: Wed, 12 Feb 2014 22:11:09 -0800 Subject: Remove the s.bus test loop... makes it very hard to update the firmware. --- src/modules/px4iofirmware/sbus.c | 11 ----------- 1 file changed, 11 deletions(-) diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c index 32be93d4c..0e7dc621c 100644 --- a/src/modules/px4iofirmware/sbus.c +++ b/src/modules/px4iofirmware/sbus.c @@ -113,17 +113,6 @@ sbus_init(const char *device) } else { debug("S.Bus: open failed"); } - - stm32_configgpio(GPIO_SBUS_OENABLE); - - while (1) { - ENABLE_SBUS_OUT(true); - const char* hello = "HELLO WORLD"; - if (write(sbus_fd, hello, strlen(hello)) != strlen(hello)) - break; - ENABLE_SBUS_OUT(false); - } - return sbus_fd; } -- cgit v1.2.3 From 6a1f91e6254e14c52b77406b12b76e2a233aedf8 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 13 Feb 2014 08:22:05 +0100 Subject: Make SBUS output exclusive --- src/modules/px4iofirmware/mixer.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 3eaecc38b..b175c3bc8 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -255,11 +255,12 @@ mixer_tick(void) up_pwm_servo_set(i, r_page_servos[i]); /* set S.BUS1 or S.BUS2 outputs */ - if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) - sbus1_output(r_page_servos, PX4IO_SERVO_COUNT); - if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) + if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) { sbus2_output(r_page_servos, PX4IO_SERVO_COUNT); + } else if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) { + sbus1_output(r_page_servos, PX4IO_SERVO_COUNT); + } } else if (mixer_servos_armed && should_always_enable_pwm) { /* set the disarmed servo outputs. */ -- cgit v1.2.3 From 91c55503a860ffc02a2687c141e2cfc68a43b3cc Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 13 Feb 2014 08:25:49 +0100 Subject: Ensure only either S.BUS1 or S.BUS2 can be active at a time --- src/modules/px4iofirmware/registers.c | 15 ++++++++++++--- 1 file changed, 12 insertions(+), 3 deletions(-) diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 1335f52e1..f78086839 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -462,9 +462,18 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) #ifdef ENABLE_SBUS_OUT ENABLE_SBUS_OUT(value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT)); - /* disable the conflicting options */ - if (value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT)) { - value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI | PX4IO_P_SETUP_FEATURES_ADC_RSSI); + /* disable the conflicting options with SBUS 1 */ + if (value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT)) { + value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI | + PX4IO_P_SETUP_FEATURES_ADC_RSSI | + PX4IO_P_SETUP_FEATURES_SBUS2_OUT); + } + + /* disable the conflicting options with SBUS 2 */ + if (value & (PX4IO_P_SETUP_FEATURES_SBUS2_OUT)) { + value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI | + PX4IO_P_SETUP_FEATURES_ADC_RSSI | + PX4IO_P_SETUP_FEATURES_SBUS1_OUT); } #endif -- cgit v1.2.3