diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-23 22:10:03 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-23 22:10:03 +0100 |
| commit | 0c116e8de5c5c958b9463f147576f3e0377c4c00 (patch) | |
| tree | 3289195982851090418a9cd4e6b7f19adc6e0e2d /src/modules/px4iofirmware | |
| parent | 4524fe3e4888d569f855d1e7a82c8d5116636a0a (diff) | |
| download | px4-firmware-0c116e8de5c5c958b9463f147576f3e0377c4c00.tar.gz px4-firmware-0c116e8de5c5c958b9463f147576f3e0377c4c00.tar.bz2 px4-firmware-0c116e8de5c5c958b9463f147576f3e0377c4c00.zip | |
Implemented S.Bus 2 decoding support
Diffstat (limited to 'src/modules/px4iofirmware')
| -rw-r--r-- | src/modules/px4iofirmware/sbus.c | 27 |
1 files changed, 25 insertions, 2 deletions
diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c index 11ccd7356..4efa72dc1 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; } |