Graupner HoTT SUMD/SUMH Receiver Protocol added

9 files changed, 15007 insertions, 9 deletions

diff --git a/src/lib/rc/module.mk b/src/lib/rc/module.mk
index e089c6965..20f89c847 100644
--- a/src/lib/rc/module.mk
+++ b/src/lib/rc/module.mk
@@ -33,8 +33,10 @@
 
 #
 # Yuntec ST24 transmitter protocol decoder
+# Graupnet HoTT transmitter protocol decoder
 #
 
-SRCS		 =	st24.c
+SRCS		 =	st24.c \
+				sumd.c
 
 MAXOPTIMIZATION	 = -Os
diff --git a/src/lib/rc/sumd.c b/src/lib/rc/sumd.c
new file mode 100644
index 000000000..6272f84b1
--- /dev/null
+++ b/src/lib/rc/sumd.c
@@ -0,0 +1,319 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * @file sumd.h
+ *
+ * RC protocol definition for Graupner HoTT transmitter
+ *
+ * @author Marco Bauer <marco@wtns.de>
+ */
+
+#include <stdbool.h>
+#include <stdio.h>
+#include "sumd.h"
+
+
+enum SUMD_DECODE_STATE {
+	SUMD_DECODE_STATE_UNSYNCED = 0,
+	SUMD_DECODE_STATE_GOT_HEADER,
+	SUMD_DECODE_STATE_GOT_STATE,
+	SUMD_DECODE_STATE_GOT_LEN,
+	SUMD_DECODE_STATE_GOT_DATA,
+	SUMD_DECODE_STATE_GOT_CRC,
+	SUMD_DECODE_STATE_GOT_CRC16_BYTE_1,
+	SUMD_DECODE_STATE_GOT_CRC16_BYTE_2
+};
+
+/*
+const char *decode_states[] = {"UNSYNCED",
+			       "GOT_HEADER",
+			       "GOT_STATE",
+			       "GOT_LEN",
+			       "GOT_DATA",
+			       "GOT_CRC",
+			       "GOT_CRC16_BYTE_1",
+			       "GOT_CRC16_BYTE_2"
+			      };
+*/
+
+uint8_t 	_crc8 	= 0x00;
+uint16_t 	_crc16 = 0x0000;
+bool 		_sumd 		= true;
+bool		_crcOK		= false;
+bool		_debug		= false;
+
+
+/* define range mapping here, -+100% -> 1000..2000 */
+#define SUMD_RANGE_MIN 0.0f
+#define SUMD_RANGE_MAX 4096.0f
+
+#define SUMD_TARGET_MIN 1000.0f
+#define SUMD_TARGET_MAX 2000.0f
+
+/* pre-calculate the floating point stuff as far as possible at compile time */
+#define SUMD_SCALE_FACTOR ((SUMD_TARGET_MAX - SUMD_TARGET_MIN) / (SUMD_RANGE_MAX - SUMD_RANGE_MIN))
+#define SUMD_SCALE_OFFSET (int)(SUMD_TARGET_MIN - (SUMD_SCALE_FACTOR * SUMD_RANGE_MIN + 0.5f))
+
+static enum SUMD_DECODE_STATE _decode_state = SUMD_DECODE_STATE_UNSYNCED;
+static uint8_t _rxlen;
+
+static ReceiverFcPacketHoTT _rxpacket;
+
+
+uint16_t sumd_crc16(uint16_t crc, uint8_t value)
+{
+	int i;
+	crc ^= (uint16_t)value << 8;
+	for (i = 0; i < 8; i++) {
+		crc = (crc & 0x8000) ? (crc << 1) ^ 0x1021 : (crc << 1);
+	}
+	return crc;
+}
+
+uint8_t sumd_crc8(uint8_t crc, uint8_t value)
+{
+	crc += value;
+	return crc;
+}
+
+int sumd_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_t *channel_count, uint16_t *channels,
+		    uint16_t max_chan_count)
+{
+
+	int ret = 1;
+	switch (_decode_state) {
+	case SUMD_DECODE_STATE_UNSYNCED:
+		if(_debug)
+			printf( " SUMD_DECODE_STATE_UNSYNCED \n") ;
+			
+		if (byte == SUMD_HEADER_ID) {
+			_rxpacket.header = byte;
+			_sumd = true;
+			_rxlen = 0;
+			_crc16 = 0x0000;
+			_crc8 = 0x00;
+			_crcOK = false;
+			_crc16 = sumd_crc16(_crc16, byte);
+			_crc8 = sumd_crc8(_crc8, byte);
+			_decode_state = SUMD_DECODE_STATE_GOT_HEADER;
+			if(_debug)
+				printf( " SUMD_DECODE_STATE_GOT_HEADER: %x \n", byte) ;
+				
+		} else {
+			ret = 3;
+		}
+
+		break;
+
+	case SUMD_DECODE_STATE_GOT_HEADER:
+		if (byte == SUMD_ID_SUMD || byte == SUMD_ID_SUMH) {
+			_rxpacket.status = byte;
+			if (byte == SUMD_ID_SUMH) {
+				_sumd = false;
+			}
+			if (_sumd) {
+				_crc16 = sumd_crc16(_crc16, byte);
+			} else {
+				_crc8 = sumd_crc8(_crc8, byte);	
+			}
+			_decode_state = SUMD_DECODE_STATE_GOT_STATE;
+			if(_debug)
+				printf( " SUMD_DECODE_STATE_GOT_STATE: %x \n", byte) ;
+
+		} else {
+			_decode_state = SUMD_DECODE_STATE_UNSYNCED;
+		}
+
+		break;
+
+	case SUMD_DECODE_STATE_GOT_STATE:
+		if (byte >= 2 && byte <= SUMD_MAX_CHANNELS) {
+			_rxpacket.length = byte;
+			if (_sumd) {
+				_crc16 = sumd_crc16(_crc16, byte);
+			} else {
+				_crc8 = sumd_crc8(_crc8, byte);	
+			}
+			_rxlen++;
+			_decode_state = SUMD_DECODE_STATE_GOT_LEN;
+			if(_debug)
+				printf( " SUMD_DECODE_STATE_GOT_LEN: %x (%d) \n", byte, byte) ;
+				
+		} else {
+			_decode_state = SUMD_DECODE_STATE_UNSYNCED;
+		}
+		break;
+
+	case SUMD_DECODE_STATE_GOT_LEN:
+		_rxpacket.sumd_data[_rxlen] = byte;
+		if (_sumd) {
+			_crc16 = sumd_crc16(_crc16, byte);
+		} else {
+			_crc8 = sumd_crc8(_crc8, byte);	
+		}
+		_rxlen++;
+		
+		if (_rxlen <= ((_rxpacket.length*2) )) {
+			if(_debug)
+				printf( " SUMD_DECODE_STATE_GOT_DATA[%d]: %x\n", _rxlen-2, byte) ;
+
+		} else {
+			_decode_state = SUMD_DECODE_STATE_GOT_DATA;
+			if(_debug)
+				printf( " SUMD_DECODE_STATE_GOT_DATA -- finish --\n") ;
+				
+		}
+
+		break;
+
+	case SUMD_DECODE_STATE_GOT_DATA:
+		_rxpacket.crc16_high = byte;
+		if(_debug)
+			printf( " SUMD_DECODE_STATE_GOT_CRC16[1]: %x   [%x]\n", byte, ((_crc16 >> 8) & 0xff)) ;
+			
+		if (_sumd) {
+			_decode_state = SUMD_DECODE_STATE_GOT_CRC;
+		} else {
+			_decode_state = SUMD_DECODE_STATE_GOT_CRC16_BYTE_1;
+		}
+
+		break;
+
+	case SUMD_DECODE_STATE_GOT_CRC16_BYTE_1:
+		_rxpacket.crc16_low = byte;
+		if(_debug)
+			printf( " SUMD_DECODE_STATE_GOT_CRC16[2]: %x   [%x]\n", byte, (_crc16 & 0xff)) ;
+			
+		_decode_state = SUMD_DECODE_STATE_GOT_CRC16_BYTE_2;
+
+		break;
+
+	case SUMD_DECODE_STATE_GOT_CRC16_BYTE_2:
+		_rxpacket.telemetry = byte;
+		if(_debug)
+			printf( " SUMD_DECODE_STATE_GOT_SUMH_TELEMETRY: %x\n", byte) ;
+			
+		_decode_state = SUMD_DECODE_STATE_GOT_CRC;
+
+		break;
+		
+	case SUMD_DECODE_STATE_GOT_CRC:
+		if (_sumd) {
+			_rxpacket.crc16_low = byte;
+			if(_debug)
+				printf( " SUMD_DECODE_STATE_GOT_CRC[2]: %x   [%x]\n\n", byte, (_crc16 & 0xff)) ;
+				
+			if (_crc16 == (uint16_t)(_rxpacket.crc16_high<<8)+_rxpacket.crc16_low) {
+				_crcOK = true;
+			}
+		} else {
+			_rxpacket.crc8 = byte;
+			if(_debug)
+				printf( " SUMD_DECODE_STATE_GOT_CRC8_SUMH: %x   [%x]\n\n", byte, _crc8) ;
+				
+			if (_crc8 == _rxpacket.crc8) {
+				_crcOK = true;
+			}
+		}
+		
+		if (_crcOK) {
+			if(_debug)
+				printf( " CRC - OK \n") ;
+
+			if (_sumd) {
+				if(_debug)
+					printf( " Got valid SUMD Packet\n") ;
+					
+			} else {
+				if(_debug)
+					printf( " Got valid SUMH Packet\n") ;
+					
+			}
+			
+			if(_debug)
+				printf( " RXLEN: %d  [Chans: %d] \n\n", _rxlen-1, (_rxlen-1)/2) ;
+
+			ret = 0;
+			unsigned i;
+			uint8_t _cnt = *rx_count + 1;
+			*rx_count = _cnt;
+		
+			*rssi = 255;
+
+			/* received Channels */
+			if ((uint16_t)_rxpacket.length > max_chan_count) {
+				_rxpacket.length = (uint8_t) max_chan_count;
+			}
+			*channel_count = (uint16_t)_rxpacket.length;
+
+			/* decode the actual packet */
+			/* reorder first 4 channels */
+
+			/* ch1 = roll -> sumd = ch2 */
+			channels[0] = (uint16_t)((_rxpacket.sumd_data[1*2+1]<<8) | _rxpacket.sumd_data[1*2+2])>>3;
+			/* ch2 = pitch -> sumd = ch2 */
+			channels[1] = (uint16_t)((_rxpacket.sumd_data[2*2+1]<<8) | _rxpacket.sumd_data[2*2+2])>>3;
+			/* ch3 = throttle -> sumd = ch2 */
+			channels[2] = (uint16_t)((_rxpacket.sumd_data[0*2+1]<<8) | _rxpacket.sumd_data[0*2+2])>>3;
+			/* ch4 = yaw -> sumd = ch2 */
+			channels[3] = (uint16_t)((_rxpacket.sumd_data[3*2+1]<<8) | _rxpacket.sumd_data[3*2+2])>>3;
+
+			/* we start at channel 5(index 4) */
+			unsigned chan_index = 4;
+
+			for (i = 4; i < _rxpacket.length; i++) {
+				if(_debug)
+					printf( "ch[%d] : %x %x [ %x    %d ]\n", i+1, _rxpacket.sumd_data[i*2+1], _rxpacket.sumd_data[i*2+2], ((_rxpacket.sumd_data[i*2+1]<<8) | _rxpacket.sumd_data[i*2+2])>>3, ((_rxpacket.sumd_data[i*2+1]<<8) | _rxpacket.sumd_data[i*2+2])>>3);
+					
+				channels[chan_index] = (uint16_t)((_rxpacket.sumd_data[i*2+1]<<8) | _rxpacket.sumd_data[i*2+2])>>3;
+				/* convert values to 1000-2000 ppm encoding in a not too sloppy fashion */
+				//channels[chan_index] = (uint16_t)(channels[chan_index] * SUMD_SCALE_FACTOR + .5f) + SUMD_SCALE_OFFSET;
+
+				chan_index++;
+			}
+
+		} else {
+			/* decoding failed */
+			ret = 4;
+			if(_debug)
+				printf( " CRC - fail \n") ;
+
+		}
+
+		_decode_state = SUMD_DECODE_STATE_UNSYNCED;
+		break;
+	}
+
+	return ret;
+}
diff --git a/src/lib/rc/sumd.h b/src/lib/rc/sumd.h
new file mode 100644
index 000000000..f4793edfc
--- /dev/null
+++ b/src/lib/rc/sumd.h
@@ -0,0 +1,108 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file sumd.h
+ *
+ * RC protocol definition for Graupner HoTT transmitter
+ *
+ * @author Marco Bauer <marco@wtns.de>
+ */
+
+#pragma once
+
+#include <stdint.h>
+
+__BEGIN_DECLS
+
+#define SUMD_MAX_CHANNELS	32
+#define SUMD_HEADER_LENGTH	3
+#define SUMD_HEADER_ID		0xA8
+#define SUMD_ID_SUMH		0x00
+#define SUMD_ID_SUMD		0x01
+#define SUMD_ID_FAILSAFE	0x81
+
+
+
+
+#pragma pack(push, 1)
+typedef struct {
+	uint8_t	header;							///< 0xA8 for a valid packet
+	uint8_t	status;							///< 0x01 valid and live SUMD data frame / 0x00 = SUMH / 0x81 = Failsafe
+	uint8_t	length;							///< Channels
+	uint8_t	sumd_data[SUMD_MAX_CHANNELS*2];	///< ChannelData (High Byte/ Low Byte)
+	uint8_t	crc16_high;						///< High Byte of 16 Bit CRC
+	uint8_t	crc16_low;						///< Low Byte of 16 Bit CRC
+	uint8_t	telemetry;						///< Telemetry request
+	uint8_t	crc8;							///< SUMH CRC8
+} ReceiverFcPacketHoTT;
+#pragma pack(pop)
+
+
+/**
+ * CRC16 implementation for SUMD protocol
+ *
+ * @param crc Initial CRC Value
+ * @param value to accumulate in the checksum
+ * @return the checksum
+ */
+uint16_t sumd_crc16(uint16_t crc, uint8_t value);
+
+/**
+ * CRC8 implementation for SUMH protocol
+ *
+ * @param crc Initial CRC Value
+ * @param value to accumulate in the checksum
+ * @return the checksum
+ */
+uint8_t sumd_crc8(uint8_t crc, uint8_t value);
+
+/**
+ * Decoder for SUMD/SUMH protocol
+ *
+ * @param byte current char to read
+ * @param rssi pointer to a byte where the RSSI value is written back to
+ * @param rx_count pointer to a byte where the receive count of packets signce last wireless frame is written back to
+ * @param channels pointer to a datastructure of size max_chan_count where channel values (12 bit) are written back to
+ * @param max_chan_count maximum channels to decode - if more channels are decoded, the last n are skipped and success (0) is returned
+ * @return 0 for success (a decoded packet), 1 for no packet yet (accumulating), 2 for unknown packet, 3 for out of sync, 4 for checksum error
+ */
+/*
+__EXPORT int sumd_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_t *channel_count,
+				 uint16_t *channels, uint16_t max_chan_count);
+*/
+int sumd_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_t *channel_count,
+				 uint16_t *channels, uint16_t max_chan_count);
+
+				 
+__END_DECLS
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c
index d20f776d6..e04ffc940 100644
--- a/src/modules/px4iofirmware/controls.c
+++ b/src/modules/px4iofirmware/controls.c
@@ -45,6 +45,7 @@
 #include <systemlib/perf_counter.h>
 #include <systemlib/ppm_decode.h>
 #include <rc/st24.h>
+#include <rc/sumd.h>
 
 #include "px4io.h"
 
@@ -53,7 +54,7 @@
 #define RC_CHANNEL_LOW_THRESH		-8000	/* 10% threshold */
 
 static bool	ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len);
-static bool	dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated);
+static bool	dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool *sumd_updated);
 
 static perf_counter_t c_gather_dsm;
 static perf_counter_t c_gather_sbus;
@@ -63,7 +64,7 @@ static int _dsm_fd;
 
 static uint16_t rc_value_override = 0;
 
-bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated)
+bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool *sumd_updated)
 {
 	perf_begin(c_gather_dsm);
 	uint16_t temp_count = r_raw_rc_count;
@@ -106,7 +107,31 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated)
 		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
 	}
 
-	return (*dsm_updated | *st24_updated);
+
+	/* get data from FD and attempt to parse with SUMD libs */
+	uint8_t sumd_rssi, sumd_rx_count;
+	uint16_t sumd_channel_count = 0;
+
+	*sumd_updated = false;
+
+	for (unsigned i = 0; i < n_bytes; i++) {
+		/* set updated flag if one complete packet was parsed */
+		st24_rssi = RC_INPUT_RSSI_MAX;
+		*sumd_updated |= (OK == sumd_decode(bytes[i], &sumd_rssi, &sumd_rx_count,
+					&sumd_channel_count, r_raw_rc_values, PX4IO_RC_INPUT_CHANNELS));
+	}
+
+	if (*sumd_updated) {
+
+		*rssi = sumd_rssi;
+		r_raw_rc_count = sumd_channel_count;
+
+		r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SUMD;
+		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
+		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
+	}
+
+	return (*dsm_updated | *st24_updated | *sumd_updated);
 }
 
 void
@@ -169,14 +194,17 @@ controls_tick() {
 #endif
 
 	perf_begin(c_gather_dsm);
-	bool dsm_updated, st24_updated;
-	(void)dsm_port_input(&rssi, &dsm_updated, &st24_updated);
+	bool dsm_updated, st24_updated, sumd_updated;
+	(void)dsm_port_input(&rssi, &dsm_updated, &st24_updated, &sumd_updated);
 	if (dsm_updated) {
 		r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM;
 	}
 	if (st24_updated) {
 		r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_ST24;
 	}
+	if (sumd_updated) {
+		r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SUMD;
+	}
 	perf_end(c_gather_dsm);
 
 	perf_begin(c_gather_sbus);
@@ -238,7 +266,7 @@ controls_tick() {
 	/*
 	 * If we received a new frame from any of the RC sources, process it.
 	 */
-	if (dsm_updated || sbus_updated || ppm_updated || st24_updated) {
+	if (dsm_updated || sbus_updated || ppm_updated || st24_updated || sumd_updated) {
 
 		/* record a bitmask of channels assigned */
 		unsigned assigned_channels = 0;
@@ -438,7 +466,7 @@ controls_tick() {
 			r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
 
 			/* mix new RC input control values to servos */
-			if (dsm_updated || sbus_updated || ppm_updated || st24_updated)
+			if (dsm_updated || sbus_updated || ppm_updated || st24_updated || sumd_updated)
 				mixer_tick();
 
 		} else {
diff --git a/src/modules/px4iofirmware/module.mk b/src/modules/px4iofirmware/module.mk
index 844e493cd..34c231174 100644
--- a/src/modules/px4iofirmware/module.mk
+++ b/src/modules/px4iofirmware/module.mk
@@ -14,7 +14,8 @@ SRCS		= adc.c \
 		  ../systemlib/mixer/mixer_multirotor.cpp \
 		  ../systemlib/mixer/mixer_simple.cpp \
 		  ../systemlib/pwm_limit/pwm_limit.c \
-		  ../../lib/rc/st24.c
+		  ../../lib/rc/st24.c \
+		  ../../lib/rc/sumd.c
 
 ifeq ($(BOARD),px4io-v1)
 SRCS		+= i2c.c
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index bd777428f..874dc0c39 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -115,6 +115,7 @@
 #define PX4IO_P_STATUS_FLAGS_SAFETY_OFF		(1 << 12) /* safety is off */
 #define PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED	(1 << 13) /* FMU was initialized and OK once */
 #define PX4IO_P_STATUS_FLAGS_RC_ST24		(1 << 14) /* ST24 input is valid */
+#define PX4IO_P_STATUS_FLAGS_RC_SUMD		(1 << 15) /* SUMD input is valid */
 
 #define PX4IO_P_STATUS_ALARMS			3	 /* alarm flags - alarms latch, write 1 to a bit to clear it */
 #define PX4IO_P_STATUS_ALARMS_VBATT_LOW		(1 << 0) /* [1] VBatt is very close to regulator dropout */
diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt
index 1a203fa30..84078c3e5 100644
--- a/unittests/CMakeLists.txt
+++ b/unittests/CMakeLists.txt
@@ -75,6 +75,10 @@ add_gtest(sbus2_test)
 add_executable(st24_test st24_test.cpp hrt.cpp ${PX_SRC}/lib/rc/st24.c)
 add_gtest(st24_test)
 
+# sumd_test
+add_executable(sumd_test sumd_test.cpp hrt.cpp ${PX_SRC}/lib/rc/sumd.c)
+add_gtest(sumd_test)
+
 # sf0x_test
 add_executable(sf0x_test sf0x_test.cpp ${PX_SRC}/drivers/sf0x/sf0x_parser.cpp)
 add_gtest(sf0x_test)
diff --git a/unittests/sumd_test.cpp b/unittests/sumd_test.cpp
new file mode 100644
index 000000000..a919de31b
--- /dev/null
+++ b/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);
+}
diff --git a/unittests/testdata/sumd_data.txt b/unittests/testdata/sumd_data.txt
new file mode 100644
index 000000000..ac7fced5d
--- /dev/null
+++ b/unittests/testdata/sumd_data.txt
@@ -0,0 +1,14472 @@
+Time [s],Value,Parity Error,Framing Error
+0.001457,0xA8,,
+0.001544,0x01,,
+0.001631,0x0C,,
+0.001718,0x22,,
+0.001805,0x74,,
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+0.001979,0xD8,,
+0.002066,0x2E,,
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+0.0025,0x60,,
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