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AP_RCProtocol: fixed support for spektrum satellite receivers

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this was broken by the recent DSM protocol decoder change
This commit is contained in:
Andrew Tridgell 2020-08-13 14:58:13 +10:00
parent 2779b26e6e
commit 1560c33418
2 changed files with 15 additions and 2 deletions
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5
libraries/AP_RCProtocol/AP_RCProtocol_DSM.cpp
View File

@ -42,6 +42,7 @@ extern const AP_HAL::HAL& hal;
#define DSM2_2048_11MS 0x12
#define DSMX_2048_22MS 0xa2
#define DSMX_2048_11MS 0xb2
#define DSMX_2048_SAT 0x00
#define SPEKTRUM_VTX_CONTROL_FRAME_MASK 0xf000f000
#define SPEKTRUM_VTX_CONTROL_FRAME 0xe000e000
@ -256,7 +257,9 @@ bool AP_RCProtocol_DSM::dsm_parse_byte(uint32_t frame_time_us, uint8_t b, uint16
if (byte_input.ofs == 1) {
// saw a beginning of frame marker
if (b == DSM2_1024_22MS || b == DSM2_2048_11MS || b == DSMX_2048_22MS || b == DSMX_2048_11MS) {
if (b == DSM2_1024_22MS || b == DSM2_2048_11MS ||
b == DSMX_2048_22MS || b == DSMX_2048_11MS ||
b == DSMX_2048_SAT) {
if (b == DSM2_1024_22MS) {
// 10 bit frames
channel_shift = 2;

12
libraries/AP_RCProtocol/examples/RCProtocolTest/RCProtocolTest.cpp
View File

@ -218,6 +218,7 @@ void loop()
0x39, 0x25, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
0xff, 0xff, 0xff, 0xff, 0xff};
const uint16_t dsm_output[] = {1014, 1024, 1004, 1034, 1044, 1053, 1063, 1073};
// DSMX_2048_11MS
const uint8_t dsm_bytes2[] = {0x00, 0xb2, 0x80, 0x94, 0x3c, 0x02, 0x1b, 0xfe,
0x44, 0x00, 0x4c, 0x00, 0x5c, 0x00, 0xff, 0xff,
@ -226,6 +227,14 @@ void loop()
const uint16_t dsm_output2[] = {1501, 1500, 989, 1498, 1102, 1897, 1501, 1501, 1500, 1500, 1500, 1500};
// DSMX_2048_11MS, from genuine spektrum satellite, 12 channels
const uint8_t dsm_bytes3[] = {0x00, 0x00, 0x81, 0x56, 0x39, 0x50, 0x1C, 0x06,
0x44, 0x00, 0x4c, 0x00, 0x5c, 0x00, 0xff, 0xff,
0x00, 0x00, 0x0c, 0x06, 0x2b, 0x32, 0x14, 0x06,
0x21, 0x96, 0x31, 0x50, 0x54, 0x00, 0xff, 0xff };
const uint16_t dsm_output3[] = {1503, 1503, 1102, 1503, 1139, 1379, 1098, 1098, 1500, 1500, 1500, 1500};
const uint8_t sumd_bytes[] = {0xA8, 0x01, 0x08, 0x2F, 0x50, 0x31, 0xE8, 0x21, 0xA0,
0x2F, 0x50, 0x22, 0x60, 0x22, 0x60, 0x2E, 0xE0, 0x2E,
0xE0, 0x87, 0xC6};
@ -256,7 +265,8 @@ void loop()
// DSM needs 8 repeats, 5 to guess the format, then 3 to pass the RCProtocol 3 frames test
test_protocol("DSM2", 115200, dsm_bytes, sizeof(dsm_bytes), dsm_output, ARRAY_SIZE(dsm_output), 9);
test_protocol("DSMX", 115200, dsm_bytes2, sizeof(dsm_bytes2), dsm_output2, ARRAY_SIZE(dsm_output2), 9, 16);
test_protocol("DSMX", 115200, dsm_bytes2, sizeof(dsm_bytes2), dsm_output2, ARRAY_SIZE(dsm_output2), 9, 16);
test_protocol("DSMX2", 115200, dsm_bytes3, sizeof(dsm_bytes3), dsm_output3, ARRAY_SIZE(dsm_output3), 9, 16);
}
AP_HAL_MAIN();