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AP_RCProtocol: added another DSM satellite protocol

This commit is contained in:
Andrew Tridgell 2020-08-13 16:54:11 +10:00
parent 1560c33418
commit 6e1aeb905f
2 changed files with 11 additions and 1 deletions
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3
libraries/AP_RCProtocol/AP_RCProtocol_DSM.cpp
View File

@ -43,6 +43,7 @@ extern const AP_HAL::HAL& hal;
#define DSMX_2048_22MS 0xa2
#define DSMX_2048_11MS 0xb2
#define DSMX_2048_SAT 0x00
#define DSMX_2048_SAT2 0x5a
#define SPEKTRUM_VTX_CONTROL_FRAME_MASK 0xf000f000
#define SPEKTRUM_VTX_CONTROL_FRAME 0xe000e000
@ -259,7 +260,7 @@ bool AP_RCProtocol_DSM::dsm_parse_byte(uint32_t frame_time_us, uint8_t b, uint16
// saw a beginning of frame marker
if (b == DSM2_1024_22MS || b == DSM2_2048_11MS ||
b == DSMX_2048_22MS || b == DSMX_2048_11MS ||
b == DSMX_2048_SAT) {
b == DSMX_2048_SAT || b == DSMX_2048_SAT2) {
if (b == DSM2_1024_22MS) {
// 10 bit frames
channel_shift = 2;

9
libraries/AP_RCProtocol/examples/RCProtocolTest/RCProtocolTest.cpp
View File

@ -235,6 +235,14 @@ void loop()
const uint16_t dsm_output3[] = {1503, 1503, 1102, 1503, 1139, 1379, 1098, 1098, 1500, 1500, 1500, 1500};
// DSMX_2048_22MS, from genuine spektrum satellite, 12 channels
const uint8_t dsm_bytes4[] = {0x00, 0x5a, 0x81, 0x7a, 0x39, 0x50, 0x1C, 0x06,
0x44, 0x00, 0x4c, 0x00, 0x5c, 0x00, 0xff, 0xff,
0x00, 0x5a, 0x0c, 0x06, 0x2b, 0x32, 0x14, 0x06,
0x21, 0x96, 0x31, 0x50, 0x54, 0x00, 0xff, 0xff };
const uint16_t dsm_output4[] = {1503, 1503, 1123, 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};
@ -267,6 +275,7 @@ void loop()
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("DSMX2", 115200, dsm_bytes3, sizeof(dsm_bytes3), dsm_output3, ARRAY_SIZE(dsm_output3), 9, 16);
test_protocol("DSMX3", 115200, dsm_bytes4, sizeof(dsm_bytes4), dsm_output4, ARRAY_SIZE(dsm_output4), 9, 16);
}
AP_HAL_MAIN();