forked from Archive/PX4-Autopilot
rc/dsm: remove system field check, add new validity checks
- unfortunately we can't depend on the system field due to potential external binding and non-genuine Spektrum equipment - reject any DSM frame with duplicate channels - add 16 channel mask - tighten valid PWM range 990-2010us (±100% travel is 1102-1898µs) - update RCTest rejected frame count
This commit is contained in:
Daniel Agar
Lorenz Meier
parent
d7b89ecc86
commit
95dd2f7e8d
|
|
@ -1,6 +1,6 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
|
|
@ -44,6 +44,7 @@
|
|||
#include <px4_platform_common/defines.h>
|
||||
|
||||
#include <fcntl.h>
|
||||
#include <math.h>
|
||||
#include <unistd.h>
|
||||
#include <termios.h>
|
||||
#include <string.h>
|
||||
|
|
@ -53,6 +54,8 @@
|
|||
#include "common_rc.h"
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#include <include/containers/Bitset.hpp>
|
||||
|
||||
#if defined(__PX4_NUTTX)
|
||||
#include <nuttx/arch.h>
|
||||
#define dsm_udelay(arg) up_udelay(arg)
|
||||
|
|
@ -106,7 +109,7 @@ static uint16_t dsm_chan_count = 0; /**< DSM channel count */
|
|||
*/
|
||||
static bool dsm_decode_channel(uint16_t raw, unsigned shift, uint8_t &channel, uint16_t &value)
|
||||
{
|
||||
if (raw == 0xffff) {
|
||||
if (raw == 0 || raw == 0xffff) {
|
||||
return false;
|
||||
}
|
||||
|
||||
|
|
@ -118,8 +121,26 @@ static bool dsm_decode_channel(uint16_t raw, unsigned shift, uint8_t &channel, u
|
|||
static constexpr uint16_t MASK_1024_SXPOS = 0x03FF;
|
||||
|
||||
channel = (raw & MASK_1024_CHANID) >> 10; // 6 bits
|
||||
uint16_t servo_position = (raw & MASK_1024_SXPOS); // 10 bits
|
||||
value = servo_position * 2; // scale to be equivalent to 2048 mode
|
||||
|
||||
const uint16_t servo_position = (raw & MASK_1024_SXPOS); // 10 bits
|
||||
|
||||
if (channel > DSM_MAX_CHANNEL_COUNT) {
|
||||
PX4_DEBUG("invalid channel: %d\n", channel);
|
||||
return false;
|
||||
}
|
||||
|
||||
// PWM_OUT = (ServoPosition x 1.166μs) + Offset
|
||||
static constexpr uint16_t offset = 903; // microseconds
|
||||
value = roundf(servo_position * 1.166f) + offset;
|
||||
|
||||
// Spektrum range is 903μs to 2097μs (Specification for Spektrum Remote Receiver Interfacing Rev G 9.1)
|
||||
// ±100% travel is 1102µs to 1898 µs
|
||||
if (value < 990 || value > 2010) {
|
||||
// if the value is unrealistic, fail the parsing entirely
|
||||
PX4_DEBUG("channel %d invalid range %d", channel, value);
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
|
||||
} else if (shift == 11) {
|
||||
|
|
@ -127,32 +148,54 @@ static bool dsm_decode_channel(uint16_t raw, unsigned shift, uint8_t &channel, u
|
|||
// Bits 15 Servo Phase
|
||||
// Bits 14-11 Channel ID
|
||||
// Bits 10-0 Servo Position
|
||||
static constexpr uint16_t MASK_2048_CHANID = 0x7800;
|
||||
static constexpr uint16_t MASK_2048_SXPOS = 0x07FF;
|
||||
|
||||
uint16_t servo_position = 0;
|
||||
|
||||
// from Spektrum Remote Receiver Interfacing Rev G Page 6
|
||||
uint8_t chan = (raw & MASK_2048_CHANID) >> 11;
|
||||
uint16_t servo_position = 0;
|
||||
const bool phase = raw & (2 >> 15); // the phase is part of the X-Plus address (bit 15)
|
||||
uint8_t chan = (raw >> 11) & 0x0F;
|
||||
|
||||
if (chan < 12) {
|
||||
// Normal channels
|
||||
static constexpr uint16_t MASK_2048_SXPOS = 0x07FF;
|
||||
servo_position = (raw & MASK_2048_SXPOS);
|
||||
|
||||
} else if (chan == 12) {
|
||||
// XPlus channels
|
||||
chan += ((raw >> 9) & 0x03);
|
||||
|
||||
const bool phase = raw & (2 >> 15); // the phase is part of the X-Plus address (bit 15)
|
||||
|
||||
if (phase) {
|
||||
chan += 4;
|
||||
}
|
||||
|
||||
if (chan > DSM_MAX_CHANNEL_COUNT) {
|
||||
PX4_DEBUG("invalid channel: %d\n", chan);
|
||||
return false;
|
||||
}
|
||||
|
||||
servo_position = (raw & 0x01FF) << 2;
|
||||
|
||||
channel = chan;
|
||||
|
||||
} else {
|
||||
PX4_DEBUG("invalid channel: %d\n", chan);
|
||||
return false;
|
||||
}
|
||||
|
||||
channel = chan;
|
||||
value = servo_position;
|
||||
|
||||
// PWM_OUT = (ServoPosition x 0.583μs) + Offset
|
||||
static constexpr uint16_t offset = 903; // microseconds
|
||||
value = roundf(servo_position * 0.583f) + offset;
|
||||
|
||||
// Spektrum range is 903μs to 2097μs (Specification for Spektrum Remote Receiver Interfacing Rev G 9.1)
|
||||
// ±100% travel is 1102µs to 1898 µs
|
||||
if (value < 990 || value > 2010) {
|
||||
// if the value is unrealistic, fail the parsing entirely
|
||||
PX4_DEBUG("channel %d invalid range %d", channel, value);
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
|
@ -179,6 +222,12 @@ static bool dsm_guess_format(bool reset)
|
|||
return false;
|
||||
}
|
||||
|
||||
px4::Bitset<DSM_MAX_CHANNEL_COUNT> channels_found_10;
|
||||
px4::Bitset<DSM_MAX_CHANNEL_COUNT> channels_found_11;
|
||||
|
||||
bool cs10_frame_valid = true;
|
||||
bool cs11_frame_valid = true;
|
||||
|
||||
/* scan the channels in the current dsm_frame in both 10- and 11-bit mode */
|
||||
for (unsigned i = 0; i < DSM_FRAME_CHANNELS; i++) {
|
||||
|
||||
|
|
@ -189,15 +238,43 @@ static bool dsm_guess_format(bool reset)
|
|||
uint16_t value = 0;
|
||||
|
||||
/* if the channel decodes, remember the assigned number */
|
||||
if (dsm_decode_channel(raw, 10, channel, value) && (channel < 31)) {
|
||||
cs10 |= (1 << channel);
|
||||
if (dsm_decode_channel(raw, 10, channel, value)) {
|
||||
// invalidate entire frame (for 1024) if channel already found, no duplicate channels per DSM frame
|
||||
if (channels_found_10[channel]) {
|
||||
cs10_frame_valid = false;
|
||||
|
||||
} else {
|
||||
channels_found_10.set(channel);
|
||||
}
|
||||
}
|
||||
|
||||
if (dsm_decode_channel(raw, 11, channel, value) && (channel < 31)) {
|
||||
cs11 |= (1 << channel);
|
||||
}
|
||||
if (dsm_decode_channel(raw, 11, channel, value)) {
|
||||
// invalidate entire frame (for 2048) if channel already found, no duplicate channels per DSM frame
|
||||
if (channels_found_11[channel]) {
|
||||
cs11_frame_valid = false;
|
||||
|
||||
/* XXX if we cared, we could look for the phase bit here to decide 1 vs. 2-dsm_frame format */
|
||||
} else {
|
||||
channels_found_11.set(channel);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// add valid cs10 channels
|
||||
if (cs10_frame_valid) {
|
||||
for (unsigned channel = 0; channel < DSM_FRAME_CHANNELS; channel++) {
|
||||
if (channels_found_10[channel]) {
|
||||
cs10 |= 1 << channel;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// add valid cs11 channels
|
||||
if (cs11_frame_valid) {
|
||||
for (unsigned channel = 0; channel < DSM_FRAME_CHANNELS; channel++) {
|
||||
if (channels_found_11[channel]) {
|
||||
cs11 |= 1 << channel;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
samples++;
|
||||
|
|
@ -227,8 +304,10 @@ static bool dsm_guess_format(bool reset)
|
|||
0x1ff, /* 9 channels (DX9, etc.) */
|
||||
0x3ff, /* 10 channels (DX10) */
|
||||
0x1fff, /* 13 channels (DX10t) */
|
||||
0x3fff /* 18 channels (DX10) */
|
||||
0xffff, /* 16 channels */
|
||||
0x3ffff,/* 18 channels (DX10) */
|
||||
};
|
||||
|
||||
unsigned votes10 = 0;
|
||||
unsigned votes11 = 0;
|
||||
|
||||
|
|
@ -480,91 +559,6 @@ bool dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values,
|
|||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* The second byte indicates the protocol and frame rate. We have a
|
||||
* guessing state machine, so we don't need to use this. At any rate,
|
||||
* these are the allowable values:
|
||||
*
|
||||
* 0x01 22MS 1024 DSM2
|
||||
* 0x12 11MS 2048 DSM2
|
||||
* 0xa2 22MS 2048 DSMX
|
||||
* 0xb2 11MS 2048 DSMX
|
||||
*/
|
||||
const uint8_t system = dsm_frame[1];
|
||||
|
||||
switch (system) {
|
||||
case 0x00: // SURFACE DSM1
|
||||
// unsupported
|
||||
PX4_DEBUG("ERROR system: SURFACE DSM1 (%X) unsupported\n", system);
|
||||
return false;
|
||||
|
||||
case 0x01: // DSM2 1024 22ms
|
||||
if (dsm_channel_shift != 10) {
|
||||
dsm_guess_format(true);
|
||||
return false;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case 0x02: // DSM2 1024 (MC24)
|
||||
// unsupported
|
||||
PX4_DEBUG("ERROR system: DSM2 1024 (MC24) (%X) unsupported\n", system);
|
||||
return false;
|
||||
|
||||
case 0x12: // DSM2 2048 11ms
|
||||
if (dsm_channel_shift != 11) {
|
||||
dsm_guess_format(true);
|
||||
return false;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case 0x23: // SURFACE DSM2 16.5ms
|
||||
// unsupported
|
||||
PX4_DEBUG("ERROR system: DSM2 16.5ms (%X) unsupported\n", system);
|
||||
return false;
|
||||
|
||||
case 0x50: // DSM MARINE
|
||||
// unsupported
|
||||
PX4_DEBUG("ERROR system: DSM MARINE (%X) unsupported\n", system);
|
||||
return false;
|
||||
|
||||
case 0x92: // DSMJ
|
||||
// unsupported
|
||||
PX4_DEBUG("ERROR system: DSMJ (%X) unsupported\n", system);
|
||||
return false;
|
||||
|
||||
case 0xA2: // DSMX 22ms OR DSMR 11ms or DSMR 22ms
|
||||
if (dsm_channel_shift != 11) {
|
||||
dsm_guess_format(true);
|
||||
return false;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case 0xA4: // DSMR 5.5ms
|
||||
// unsupported
|
||||
PX4_DEBUG("ERROR system: DSMR 5.5ms (%X) unsupported\n", system);
|
||||
return false;
|
||||
|
||||
case 0xAE: // NOT_BOUND
|
||||
PX4_DEBUG("ERROR system: NOT_BOUND (%X) unsupported\n", system);
|
||||
return false;
|
||||
|
||||
case 0xB2: // DSMX 11ms
|
||||
if (dsm_channel_shift != 11) {
|
||||
dsm_guess_format(true);
|
||||
return false;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
default:
|
||||
// ERROR
|
||||
PX4_DEBUG("ERROR system: %X unsupported\n", system);
|
||||
return false;
|
||||
}
|
||||
|
||||
/*
|
||||
* Each channel is a 16-bit unsigned value containing either a 10-
|
||||
* or 11-bit channel value and a 4-bit channel number, shifted
|
||||
|
|
@ -573,18 +567,42 @@ bool dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values,
|
|||
* seven channels are being transmitted.
|
||||
*/
|
||||
|
||||
px4::Bitset<DSM_MAX_CHANNEL_COUNT> channels_found;
|
||||
|
||||
unsigned channel_decode_failures = 0;
|
||||
|
||||
for (unsigned i = 0; i < DSM_FRAME_CHANNELS; i++) {
|
||||
|
||||
uint8_t *dp = &dsm_frame[2 + (2 * i)];
|
||||
uint16_t raw = (dp[0] << 8) | dp[1];
|
||||
|
||||
// ignore
|
||||
if (raw == 0 || raw == 0xffff) {
|
||||
continue;
|
||||
}
|
||||
|
||||
uint8_t channel = 0;
|
||||
uint16_t value = 0;
|
||||
|
||||
if (!dsm_decode_channel(raw, dsm_channel_shift, channel, value)) {
|
||||
channel_decode_failures++;
|
||||
continue;
|
||||
}
|
||||
|
||||
// discard entire frame if at least half of it (4 channels) failed to decode
|
||||
if (channel_decode_failures >= 4) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// abort if channel already found, no duplicate channels per DSM frame
|
||||
if (channels_found[channel]) {
|
||||
PX4_DEBUG("duplicate channel %d\n\n", channel);
|
||||
return false;
|
||||
|
||||
} else {
|
||||
channels_found.set(channel);
|
||||
}
|
||||
|
||||
/* reset bit guessing state machine if the channel index is out of bounds */
|
||||
if (channel > DSM_MAX_CHANNEL_COUNT) {
|
||||
dsm_guess_format(true);
|
||||
|
|
@ -624,11 +642,7 @@ bool dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values,
|
|||
break;
|
||||
}
|
||||
|
||||
// Scaling
|
||||
// See Specification for Spektrum Remote Receiver Interfacing Rev G 2019 January 22
|
||||
// 2048 Mode Scaling: PWM_OUT = (ServoPosition x 0.583μs) + Offset (903μs)
|
||||
// scaled integer for decent accuracy while staying efficient (0.583us ~= 1194/2048)
|
||||
values[channel] = (value * 1194) / 2048 + 903;
|
||||
values[channel] = value;
|
||||
}
|
||||
|
||||
/*
|
||||
|
|
|
|||
|
|
@ -32,7 +32,7 @@ private:
|
|||
bool crsfTest();
|
||||
bool dsmTest(const char *filepath, unsigned expected_chancount, unsigned expected_dropcount, unsigned chan0);
|
||||
bool dsmTest10Ch();
|
||||
bool dsmTest12Ch();
|
||||
bool dsmTest16Ch();
|
||||
bool sbus2Test();
|
||||
bool st24Test();
|
||||
bool sumdTest();
|
||||
|
|
@ -42,7 +42,7 @@ bool RCTest::run_tests()
|
|||
{
|
||||
ut_run_test(crsfTest);
|
||||
ut_run_test(dsmTest10Ch);
|
||||
ut_run_test(dsmTest12Ch);
|
||||
ut_run_test(dsmTest16Ch);
|
||||
ut_run_test(sbus2Test);
|
||||
ut_run_test(st24Test);
|
||||
ut_run_test(sumdTest);
|
||||
|
|
@ -138,12 +138,12 @@ bool RCTest::crsfTest()
|
|||
|
||||
bool RCTest::dsmTest10Ch()
|
||||
{
|
||||
return dsmTest(TEST_DATA_PATH "dsm_x_data.txt", 10, 64, 1500);
|
||||
return dsmTest(TEST_DATA_PATH "dsm_x_data.txt", 10, 6, 1500);
|
||||
}
|
||||
|
||||
bool RCTest::dsmTest12Ch()
|
||||
bool RCTest::dsmTest16Ch()
|
||||
{
|
||||
return dsmTest(TEST_DATA_PATH "dsm_x_dx9_data.txt", 12, 454, 1500);
|
||||
return dsmTest(TEST_DATA_PATH "dsm_x_dx9_data.txt", 16, 3, 1500);
|
||||
}
|
||||
|
||||
bool RCTest::dsmTest(const char *filepath, unsigned expected_chancount, unsigned expected_dropcount, unsigned chan0)
|
||||
|
|
@ -172,7 +172,7 @@ bool RCTest::dsmTest(const char *filepath, unsigned expected_chancount, unsigned
|
|||
unsigned dsm_frame_drops = 0;
|
||||
uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]);
|
||||
|
||||
int rate_limiter = 0;
|
||||
int count = 0;
|
||||
unsigned last_drop = 0;
|
||||
|
||||
dsm_proto_init();
|
||||
|
|
@ -192,7 +192,9 @@ bool RCTest::dsmTest(const char *filepath, unsigned expected_chancount, unsigned
|
|||
&dsm_11_bit, &dsm_frame_drops, nullptr, max_channels);
|
||||
|
||||
if (result) {
|
||||
ut_compare("num_values == expected_chancount", num_values, expected_chancount);
|
||||
if (count > (16 * 10)) { // need to process enough data to have full channel count
|
||||
ut_compare("num_values == expected_chancount", num_values, expected_chancount);
|
||||
}
|
||||
|
||||
ut_test(abs((int)chan0 - (int)rc_values[0]) < 30);
|
||||
|
||||
|
|
@ -208,13 +210,13 @@ bool RCTest::dsmTest(const char *filepath, unsigned expected_chancount, unsigned
|
|||
last_drop = dsm_frame_drops;
|
||||
}
|
||||
|
||||
rate_limiter++;
|
||||
count++;
|
||||
}
|
||||
|
||||
fclose(fp);
|
||||
|
||||
ut_test(ret == EOF);
|
||||
PX4_INFO("drop: %d", (int)last_drop);
|
||||
//PX4_INFO("drop: %d", (int)last_drop);
|
||||
ut_compare("last_drop == expected_dropcount", last_drop, expected_dropcount);
|
||||
|
||||
return true;
|
||||
|
|
|
|||
Loading…
Reference in New Issue