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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)
{
if (timestamp_us - last_packet_us > 3000U) {
if (timestamp_us - last_packet_us > 5000U) {
_decode_state = SUMD_DECODE_STATE_UNSYNCED;
}
switch (_decode_state) {

13
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);
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());
return false;
}
@ -207,15 +208,21 @@ void loop()
0x60, 0x3B, 0x60, 0x3B, 0x60, 0x3B, 0x60, 0x3B, 0x60, 0x3B, 0x60, 0x3B, 0x60, 0x3B,
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_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 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("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);
// SBUS needs 3 repeats to pass the RCProtocol 3 frames test