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AP_RCProtocol: fixed SUMD with 16 channels

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with 16 channels it is more than 3ms per frame
This commit is contained in:
Andrew Tridgell 2019-09-07 09:17:59 +10:00
parent df387dc396
commit aa20be4270
2 changed files with 11 additions and 4 deletions
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2
libraries/AP_RCProtocol/AP_RCProtocol_SUMD.cpp
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@ -81,7 +81,7 @@ void AP_RCProtocol_SUMD::process_pulse(uint32_t width_s0, uint32_t width_s1)
void AP_RCProtocol_SUMD::_process_byte(uint32_t timestamp_us, uint8_t byte) void AP_RCProtocol_SUMD::_process_byte(uint32_t timestamp_us, uint8_t byte)
{ {
if (timestamp_us - last_packet_us > 3000U) { if (timestamp_us - last_packet_us > 5000U) {
_decode_state = SUMD_DECODE_STATE_UNSYNCED; _decode_state = SUMD_DECODE_STATE_UNSYNCED;
} }
switch (_decode_state) { switch (_decode_state) {

11
libraries/AP_RCProtocol/examples/RCProtocolTest/RCProtocolTest.cpp
View File

@ -43,7 +43,8 @@ static bool check_result(const char *name, bool bytes, const uint16_t *values, u
printf("%s: No new input\n", label); printf("%s: No new input\n", label);
return false; return false;
} }
if (strcmp(rcprot->protocol_name(), name) != 0) { const char *pname = rcprot->protocol_name();
if (strncmp(pname, name, strlen(pname)) != 0) {
printf("%s: wrong protocol detected %s\n", label, rcprot->protocol_name()); printf("%s: wrong protocol detected %s\n", label, rcprot->protocol_name());
return false; return false;
} }
@ -207,15 +208,21 @@ void loop()
0x60, 0x3B, 0x60, 0x3B, 0x60, 0x3B, 0x60, 0x3B, 0x60, 0x3B, 0x60, 0x3B, 0x60, 0x3B, 0x60, 0x3B, 0x60, 0x3B, 0x60, 0x3B, 0x60, 0x3B, 0x60, 0x3B, 0x60, 0x3B, 0x60, 0x3B,
0x60, 0x17, 0x02}; 0x60, 0x17, 0x02};
const uint8_t sumd_bytes3[] = {0xA8, 0x01, 0x10, 0x1F, 0x40, 0x2E, 0xE8, 0x2E, 0xE0, 0x2E, 0xE0, 0x2E, 0xE0,
0x2E, 0xE0, 0x2E, 0xE0, 0x22, 0x60, 0x2E, 0xE0, 0x2E, 0xE0, 0x2E, 0xE0, 0x2E,
0xE0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3B, 0x20, 0x4F, 0x10};
const uint16_t sumd_output[] = {1597, 1076, 1514, 1514, 1100, 1100, 1500, 1500}; const uint16_t sumd_output[] = {1597, 1076, 1514, 1514, 1100, 1100, 1500, 1500};
const uint16_t sumd_output2[] = {1516, 1500, 1100, 1500, 1900, 1900, 1900, 1900, 1900, 1900, 1900, 1900}; const uint16_t sumd_output2[] = {1516, 1500, 1100, 1500, 1900, 1900, 1900, 1900, 1900, 1900, 1900, 1900};
const uint16_t sumd_output3[] = {1501, 1500, 1000, 1500, 1500, 1500, 1500, 1100, 1500, 1500, 1500, 1500, 0, 0, 0, 1892};
const uint8_t ibus_bytes[] = {0x20, 0x40, 0xdc, 0x05, 0xdc, 0x05, 0xe8, 0x03, 0xdc, 0x05, 0xdc, 0x05, 0xdc, 0x05, 0xdc, 0x05, 0xdc, 0x05, 0xdc, 0x05, 0xdc, 0x05, 0xdc, 0x05, 0xdc, 0x05, 0xdc, 0x05, 0xdc, 0x05, 0x47, 0xf3}; const uint8_t ibus_bytes[] = {0x20, 0x40, 0xdc, 0x05, 0xdc, 0x05, 0xe8, 0x03, 0xdc, 0x05, 0xdc, 0x05, 0xdc, 0x05, 0xdc, 0x05, 0xdc, 0x05, 0xdc, 0x05, 0xdc, 0x05, 0xdc, 0x05, 0xdc, 0x05, 0xdc, 0x05, 0xdc, 0x05, 0x47, 0xf3};
const uint16_t ibus_output[] = {1500, 1500, 1000, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500}; const uint16_t ibus_output[] = {1500, 1500, 1000, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500};
test_protocol("SRXL", 115200, srxl_bytes, sizeof(srxl_bytes), srxl_output, ARRAY_SIZE(srxl_output), 1); test_protocol("SRXL", 115200, srxl_bytes, sizeof(srxl_bytes), srxl_output, ARRAY_SIZE(srxl_output), 1);
test_protocol("SUMD", 115200, sumd_bytes, sizeof(sumd_bytes), sumd_output, ARRAY_SIZE(sumd_output), 1); test_protocol("SUMD", 115200, sumd_bytes, sizeof(sumd_bytes), sumd_output, ARRAY_SIZE(sumd_output), 1);
test_protocol("SUMD", 115200, sumd_bytes2, sizeof(sumd_bytes2), sumd_output2, ARRAY_SIZE(sumd_output2), 1); test_protocol("SUMD2", 115200, sumd_bytes2, sizeof(sumd_bytes2), sumd_output2, ARRAY_SIZE(sumd_output2), 1);
test_protocol("SUMD3", 115200, sumd_bytes3, sizeof(sumd_bytes3), sumd_output3, ARRAY_SIZE(sumd_output3), 1);
test_protocol("IBUS", 115200, ibus_bytes, sizeof(ibus_bytes), ibus_output, ARRAY_SIZE(ibus_output), 1); test_protocol("IBUS", 115200, ibus_bytes, sizeof(ibus_bytes), ibus_output, ARRAY_SIZE(ibus_output), 1);
// SBUS needs 3 repeats to pass the RCProtocol 3 frames test // SBUS needs 3 repeats to pass the RCProtocol 3 frames test