From 0c116e8de5c5c958b9463f147576f3e0377c4c00 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 23 Jan 2014 22:10:03 +0100 Subject: [PATCH 1/2] Implemented S.Bus 2 decoding support --- src/modules/px4iofirmware/sbus.c | 27 +++++++++++++++++++++++++-- 1 file changed, 25 insertions(+), 2 deletions(-) diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c index 11ccd7356a..4efa72dc1b 100644 --- a/src/modules/px4iofirmware/sbus.c +++ b/src/modules/px4iofirmware/sbus.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2014 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 @@ -218,7 +218,30 @@ static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_values) { /* check frame boundary markers to avoid out-of-sync cases */ - if ((frame[0] != 0x0f) || (frame[24] != 0x00)) { + if ((frame[0] != 0x0f)) { + sbus_frame_drops++; + return false; + } + + switch (frame[24]) { + case 0x00: + /* this is S.BUS 1 */ + break; + case 0x03: + /* S.BUS 2 SLOT0: RX battery and external voltage */ + break; + case 0x83: + /* S.BUS 2 SLOT1 */ + break; + case 0x43: + case 0xC3: + case 0x23: + case 0xA3: + case 0x63: + case 0xE3: + break; + default: + /* we expect one of these, else abort */ sbus_frame_drops++; return false; } From 8bdbce5fe2893353bf9582294c28ab2831f96a9d Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 23 Jan 2014 22:27:04 +0100 Subject: [PATCH 2/2] We do not know all secret S.BUS2 codes yet --- src/modules/px4iofirmware/sbus.c | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c index 4efa72dc1b..4954477402 100644 --- a/src/modules/px4iofirmware/sbus.c +++ b/src/modules/px4iofirmware/sbus.c @@ -241,9 +241,8 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint case 0xE3: break; default: - /* we expect one of these, else abort */ - sbus_frame_drops++; - return false; + /* we expect one of the bits above, but there are some we don't know yet */ + break; } /* we have received something we think is a frame */