/**
* @brief This function handles the DMA end of transfer fro ADC read
* and processing of ADC stick data then calls the mixer.
* @param None
* @retval None
*/
void DMA1_Channel1_IRQHandler(void) {
DMA_ClearFlag(DMA1_FLAG_TC1);
DMA_ClearITPendingBit(DMA_IT_TC);
// update the sticks data now
sticks_update();
// Don't run the mixer if we're calibrating
if (cal_state == CAL_OFF) {
if (!g_modelInvalid) {
// Run the mixer.
mixer_update();
}
} else // if (cal_state != CAL_OFF)
{
cal_update();
}
}
static void
mixer_tick(void *arg)
{
uint16_t *control_values;
int control_count;
int i;
bool should_arm;
/*
* Start by looking for R/C control inputs.
* This updates system_state with any control inputs received.
*/
mixer_get_rc_input();
/*
* Decide which set of inputs we're using.
*/
if (system_state.mixer_use_fmu) {
/* we have recent control data from the FMU */
control_count = PX4IO_OUTPUT_CHANNELS;
control_values = &system_state.fmu_channel_data[0];
/* check that we are receiving fresh data from the FMU */
if (!system_state.fmu_data_received) {
fmu_input_drops++;
/* too many frames without FMU input, time to go to failsafe */
if (fmu_input_drops >= FMU_INPUT_DROP_LIMIT) {
system_state.mixer_use_fmu = false;
}
} else {
fmu_input_drops = 0;
system_state.fmu_data_received = false;
}
} else if (system_state.rc_channels > 0) {
/* we have control data from an R/C input */
control_count = system_state.rc_channels;
control_values = &system_state.rc_channel_data[0];
} else {
/* we have no control input */
control_count = 0;
}
/*
* Tickle each mixer, if we have control data.
*/
if (control_count > 0) {
for (i = 0; i < PX4IO_OUTPUT_CHANNELS; i++) {
mixer_update(i, control_values, control_count);
/*
* If we are armed, update the servo output.
*/
if (system_state.armed)
ioctl(mixer_servo_fd, PWM_SERVO_SET(i), mixers[i].current_value);
}
}
/*
* Decide whether the servos should be armed right now.
*/
should_arm = system_state.armed && (control_count > 0);
if (should_arm && !mixer_servos_armed) {
/* need to arm, but not armed */
ioctl(mixer_servo_fd, PWM_SERVO_ARM, 0);
mixer_servos_armed = true;
} else if (!should_arm && mixer_servos_armed) {
/* armed but need to disarm*/
ioctl(mixer_servo_fd, PWM_SERVO_DISARM, 0);
mixer_servos_armed = false;
}
}
