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Avoid processing S.bus channels that cannot be communicated to FMU

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px4dev
2012-11-30 21:51:36 -08:00
parent 7f22811afb
commit 1e6e06595a
1 changed files with 8 additions and 3 deletions
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apps/px4io/sbus.c
+8 -3
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@@ -52,6 +52,7 @@
#include "protocol.h"
#define SBUS_FRAME_SIZE 25
#define SBUS_INPUT_CHANNELS 16
static int sbus_fd = -1;
@@ -168,7 +169,7 @@ struct sbus_bit_pick {
uint8_t mask;
uint8_t lshift;
};
static const struct sbus_bit_pick sbus_decoder[][3] = {
static const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3] = {
/* 0 */ { { 0, 0, 0xff, 0},{ 1, 0, 0x07, 8},{ 0, 0, 0x00, 0} },
/* 1 */ { { 1, 3, 0x1f, 0},{ 2, 0, 0x3f, 5},{ 0, 0, 0x00, 0} },
/* 2 */ { { 2, 6, 0x03, 0},{ 3, 0, 0xff, 2},{ 4, 0, 0x01, 10} },
@@ -201,11 +202,15 @@ sbus_decode(hrt_abstime frame_time)
return;
/* use the decoder matrix to extract channel data */
for (unsigned channel = 0; channel < 16; channel++) {
for (unsigned channel = 0; channel < SBUS_INPUT_CHANNELS; channel++) {
if (channel >= PX4IO_INPUT_CHANNELS)
break;
unsigned value = 0;
for (unsigned pick = 0; pick < 3; pick++) {
struct sbus_bit_pick *decode = &sbus_decoder[channel][pick];
const struct sbus_bit_pick *decode = &sbus_decoder[channel][pick];
if (decode->mask != 0) {
unsigned piece = frame[1 + decode->byte];