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rc: dsm allow full range

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Daniel Agar 2021-04-14 21:11:11 -04:00 committed by Lorenz Meier
parent bd4839e855
commit 5c4582ccce
2 changed files with 26 additions and 21 deletions
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37
src/lib/rc/dsm.cpp
View File

@ -81,6 +81,7 @@ static unsigned dsm_partial_frame_count; /**< Count of bytes received for curren
static unsigned dsm_channel_shift = 0; /**< Channel resolution, 0=unknown, 10=10 bit (1024), 11=11 bit (2048) */
static unsigned dsm_frame_drops = 0; /**< Count of incomplete DSM frames */
static uint16_t dsm_chan_count = 0; /**< DSM channel count */
static uint16_t dsm_chan_count_prev = 0; /**< last valid DSM channel count */
/**
* Attempt to decode a single channel raw channel datum
@ -135,7 +136,7 @@ static bool dsm_decode_channel(uint16_t raw, unsigned shift, uint8_t &channel, u
// 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 (value < 903 || value > 2097) {
// if the value is unrealistic, fail the parsing entirely
PX4_DEBUG("channel %d invalid range %d", channel, value);
return false;
@ -190,12 +191,14 @@ static bool dsm_decode_channel(uint16_t raw, unsigned shift, uint8_t &channel, u
// 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 (value < 903 || value > 2097) {
// if the value is unrealistic, fail the parsing entirely
PX4_DEBUG("channel %d invalid range %d", channel, value);
return false;
}
PX4_DEBUG(stderr, "CH%d=%d(0x%02x), ", channel, value, raw);
return true;
}
@ -215,6 +218,7 @@ static bool dsm_guess_format(bool reset)
/* reset the 10/11 bit sniffed channel masks */
if (reset) {
PX4_DEBUG("dsm_guess_format reset");
cs10 = 0;
cs11 = 0;
samples = 0;
@ -283,8 +287,8 @@ static bool dsm_guess_format(bool reset)
printf("dsm guess format: samples: %d %s\n", samples, (reset) ? "RESET" : "");
#endif
/* wait until we have seen plenty of frames - 5 should normally be enough */
if (samples < 5) {
/* wait until we have seen plenty of frames */
if (samples < 10) {
return false;
}
@ -597,6 +601,7 @@ bool dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values,
// abort if channel already found, no duplicate channels per DSM frame
if (channels_found[channel]) {
PX4_DEBUG("duplicate channel %d\n\n", channel);
dsm_guess_format(true);
return false;
} else {
@ -605,6 +610,7 @@ bool dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values,
/* reset bit guessing state machine if the channel index is out of bounds */
if (channel > DSM_MAX_CHANNEL_COUNT) {
PX4_DEBUG("channel %d > %d (DSM_MAX_CHANNEL_COUNT)", channel, DSM_MAX_CHANNEL_COUNT);
dsm_guess_format(true);
return false;
}
@ -645,16 +651,6 @@ bool dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values,
values[channel] = value;
}
/*
* Spektrum likes to send junk in higher channel numbers to fill
* their packets. We don't know about a 13 channel model in their TX
* lines, so if we get a channel count of 13, we'll return 12 (the last
* data index that is stable).
*/
if (*num_values == 13) {
*num_values = 12;
}
/* Set the 11-bit data indicator */
*dsm_11_bit = (dsm_channel_shift == 11);
@ -845,11 +841,18 @@ bool dsm_parse(const uint64_t now, const uint8_t *frame, const unsigned len, uin
}
if (decode_ret) {
*num_values = dsm_chan_count;
// require stable channel count (dsm_chan_count == dsm_chan_count_prev) before considering the decode valid
if ((dsm_chan_count > 0) && (dsm_chan_count <= DSM_MAX_CHANNEL_COUNT) && (dsm_chan_count == dsm_chan_count_prev)) {
*num_values = dsm_chan_count;
memcpy(&values[0], &dsm_chan_buf[0], dsm_chan_count * sizeof(dsm_chan_buf[0]));
} else {
decode_ret = false;
}
dsm_chan_count_prev = dsm_chan_count;
memcpy(&values[0], &dsm_chan_buf[0], dsm_chan_count * sizeof(dsm_chan_buf[0]));
#ifdef DSM_DEBUG
printf("PACKET ---------\n");
printf("frame drops: %u, chan #: %u\n", dsm_frame_drops, dsm_chan_count);

10
src/lib/rc/rc_tests/RCTest.cpp
View File

@ -231,17 +231,17 @@ bool RCTest::ghstTest()
bool RCTest::dsmTest10Ch()
{
return dsmTest(TEST_DATA_PATH "dsm_x_data.txt", 10, 6, 1500);
return dsmTest(TEST_DATA_PATH "dsm_x_data.txt", 10, 17, 1500);
}
bool RCTest::dsmTest16Ch()
{
return dsmTest(TEST_DATA_PATH "dsm_x_dx9_data.txt", 16, 3, 1500);
return dsmTest(TEST_DATA_PATH "dsm_x_dx9_data.txt", 16, 6, 1500);
}
bool RCTest::dsmTest22msDSMX16Ch()
{
return dsmTest(TEST_DATA_PATH "dsm_x_dx9_px4_binding_data.txt", 16, 6, 1499);
return dsmTest(TEST_DATA_PATH "dsm_x_dx9_px4_binding_data.txt", 16, 11, 1499);
}
bool RCTest::dsmTest(const char *filepath, unsigned expected_chancount, unsigned expected_dropcount, unsigned chan0)
@ -290,7 +290,7 @@ bool RCTest::dsmTest(const char *filepath, unsigned expected_chancount, unsigned
&dsm_11_bit, &dsm_frame_drops, nullptr, max_channels);
if (result) {
if (count > (16 * 10)) { // need to process enough data to have full channel count
if (count > (16 * 20)) { // need to process enough data to have full channel count
ut_compare("num_values == expected_chancount", num_values, expected_chancount);
}
@ -313,6 +313,8 @@ bool RCTest::dsmTest(const char *filepath, unsigned expected_chancount, unsigned
fclose(fp);
ut_compare("num_values == expected_chancount", num_values, expected_chancount);
ut_test(ret == EOF);
//PX4_INFO("drop: %d", (int)last_drop);
ut_compare("last_drop == expected_dropcount", last_drop, expected_dropcount);