Graupner HoTT SUMD/SUMH Receiver Protocol added

unittests/sumd_test.cpp

@@ -0,0 +1,63 @@
+#include <stdio.h>
+#include <unistd.h>
+#include <string.h>
+#include <systemlib/err.h>
+#include <drivers/drv_hrt.h>
+#include <rc/sumd.h>
+#include "../../src/systemcmds/tests/tests.h"
+
+#include "gtest/gtest.h"
+
+TEST(SUMDTest, SUMD) {
+	const char* filepath = "testdata/sumd_data.txt";
+
+	warnx("loading data from: %s", filepath);
+
+	FILE *fp;
+
+	fp = fopen(filepath, "rt");
+	//ASSERT_TRUE(fp);
+
+	float f;
+	unsigned x;
+	int ret;
+
+	// Trash the first 20 lines
+	for (unsigned i = 0; i < 20; i++) {
+		char buf[200];
+		(void)fgets(buf, sizeof(buf), fp);
+	}
+
+	float last_time = 0;
+
+	while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {
+		if (((f - last_time) * 1000 * 1000) > 3000) {
+			// warnx("FRAME RESET\n\n");
+		}
+
+		uint8_t b = static_cast<uint8_t>(x);
+
+		last_time = f;
+
+		// Pipe the data into the parser
+		hrt_abstime now = hrt_absolute_time();
+
+		uint8_t rssi;
+		uint8_t rx_count;
+		uint16_t channel_count;
+		uint16_t channels[32];
+
+
+		if (!sumd_decode(b, &rssi, &rx_count, &channel_count, channels, 32)) {
+			//warnx("decoded: %u channels (converted to PPM range)", (unsigned)channel_count);
+
+			for (unsigned i = 0; i < channel_count; i++) {
+
+				int16_t val = channels[i];
+				//warnx("channel %u: %d 0x%03X", i, static_cast<int>(val), static_cast<int>(val));
+			}
+		}
+	}
+
+	ASSERT_EQ(EOF, ret);
+}