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[sbus] support end bytes for SBUS2

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This commit is contained in:
Gautier Hattenberger
2017-02-21 15:21:42 +01:00
parent 9f74c89f3b
commit 63388b2d40
1 changed files with 13 additions and 3 deletions
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sw/airborne/subsystems/radio_control/sbus_common.c
+13 -3
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@@ -32,7 +32,12 @@
* SBUS protocol and state machine status
*/
#define SBUS_START_BYTE 0x0f
#define SBUS_END_BYTE 0x00
#define SBUS_END_BYTE_0 0x00 // only possible end byte for SBUS v1
#define SBUS_END_BYTE_1 0x04 // with SBUS v2 and 14CH mode
#define SBUS_END_BYTE_2 0x14 // end byte is cycling
#define SBUS_END_BYTE_3 0x24 // through the following 4 types
#define SBUS_END_BYTE_4 0x34 // in order
#define SBUS_END_BYTE_5 0x08 // with SBUS v2 and 12CH mode
#define SBUS_BIT_PER_CHANNEL 11
#define SBUS_BIT_PER_BYTE 8
#define SBUS_FLAGS_BYTE 22
@@ -128,8 +133,13 @@ void sbus_common_decode_event(struct Sbus *sbus_p, struct uart_periph *dev)
sbus_p->buffer[sbus_p->idx] = rbyte;
sbus_p->idx++;
if (sbus_p->idx == SBUS_BUF_LENGTH) {
// Decode if last byte is the correct end byte
if (rbyte == SBUS_END_BYTE) {
// Decode if last byte is (one of) the correct end byte
if (rbyte == SBUS_END_BYTE_0 ||
rbyte == SBUS_END_BYTE_1 ||
rbyte == SBUS_END_BYTE_2 ||
rbyte == SBUS_END_BYTE_3 ||
rbyte == SBUS_END_BYTE_4 ||
rbyte == SBUS_END_BYTE_5) {
decode_sbus_buffer(sbus_p->buffer, sbus_p->pulses, &sbus_p->frame_available, sbus_p->ppm);
}
sbus_p->status = SBUS_STATUS_UNINIT;