diff --git a/unittests/dsm_test.cpp b/unittests/dsm_test.cpp index d6b6faa021..7bd6558139 100644 --- a/unittests/dsm_test.cpp +++ b/unittests/dsm_test.cpp @@ -36,10 +36,8 @@ TEST(DSMTest, DSM) uint8_t frame[20]; uint16_t rc_values[18]; uint16_t num_values; - unsigned sbus_frame_drops = 0; - unsigned sbus_frame_resets = 0; - bool sbus_failsafe; - bool sbus_frame_drop; + bool dsm_11_bit; + unsigned dsm_frame_drops = 0; uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]); int rate_limiter = 0; @@ -53,19 +51,20 @@ TEST(DSMTest, DSM) unsigned len = 1; // Pipe the data into the parser - hrt_abstime now = hrt_absolute_time(); - - // if (rate_limiter % byte_offset == 0) { - bool result = false;//sbus_parse(now, &frame[0], len, rc_values, &num_values, - // &sbus_failsafe, &sbus_frame_drop, &sbus_frame_drops, max_channels); + bool result = dsm_parse(f*1e6, &frame[0], len, rc_values, &num_values, + &dsm_11_bit, &dsm_frame_drops, max_channels); if (result) { - //warnx("decoded packet"); + warnx("decoded packet with %d channels and %s encoding:", num_values, (dsm_11_bit) ? "11 bit" : "10 bit"); + + for (unsigned i = 0; i < num_values; i++) { + printf("chan #%u:\t%d\n", i, (int)rc_values[i]); + } } - if (last_drop != (sbus_frame_drops + sbus_frame_resets)) { - warnx("frame dropped, now #%d", (sbus_frame_drops + sbus_frame_resets)); - last_drop = sbus_frame_drops + sbus_frame_resets; + if (last_drop != (dsm_frame_drops)) { + warnx("frame dropped, now #%d", (dsm_frame_drops)); + last_drop = dsm_frame_drops; } rate_limiter++;