ardupilot/libraries/AP_RCProtocol/AP_RCProtocol_SRXL2.h

70 lines
3.1 KiB
C
Raw Normal View History

2020-03-23 16:20:00 -03:00
/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "AP_RCProtocol.h"
#include <AP_Math/AP_Math.h>
#include "SoftSerial.h"
#define SRXL2_MAX_CHANNELS 32U /* Maximum number of channels from srxl2 datastream */
#define SRXL2_FRAMELEN_MAX 80U /* maximum possible framelengh */
#define SRXL2_HEADER_LEN 3U
class AP_RCProtocol_SRXL2 : public AP_RCProtocol_Backend {
public:
AP_RCProtocol_SRXL2(AP_RCProtocol &_frontend);
virtual ~AP_RCProtocol_SRXL2();
2020-03-23 16:20:00 -03:00
void process_byte(uint8_t byte, uint32_t baudrate) override;
void start_bind(void) override;
void update(void) override;
// get singleton instance
static AP_RCProtocol_SRXL2* get_singleton() {
return _singleton;
}
// static functions for SRXL2 callbacks
static void capture_scaled_input(const uint8_t *values_p, bool in_failsafe, int16_t rssi);
2020-03-23 16:20:00 -03:00
static void send_on_uart(uint8_t* pBuffer, uint8_t length);
static void change_baud_rate(uint32_t baudrate);
private:
const uint8_t MAX_CHANNELS = MIN((uint8_t)SRXL_MAX_CHANNELS, (uint8_t)MAX_RCIN_CHANNELS);
static AP_RCProtocol_SRXL2* _singleton;
void _process_byte(uint32_t timestamp_us, uint8_t byte);
void _send_on_uart(uint8_t* pBuffer, uint8_t length);
void _change_baud_rate(uint32_t baudrate);
void _capture_scaled_input(const uint8_t *values_p, bool in_failsafe, int16_t rssi);
2020-03-23 16:20:00 -03:00
uint8_t _buffer[SRXL2_FRAMELEN_MAX]; /* buffer for raw srxl frame data in correct order --> buffer[0]=byte0 buffer[1]=byte1 */
uint8_t _buflen; /* length in number of bytes of received srxl dataframe in buffer */
uint32_t _last_run_ms; // last time the state machine was run
uint16_t _channels[SRXL2_MAX_CHANNELS] = {0}; /* buffer for extracted RC channel data as pulsewidth in microseconds */
enum {
STATE_IDLE, /* do nothing */
STATE_NEW, /* get header of frame + prepare for frame reception */
STATE_COLLECT /* collect RC channel data from frame */
};
uint8_t _frame_len_full = 0U; /* Length in number of bytes of full srxl datastream */
uint8_t _decode_state = STATE_IDLE; /* Current state of SRXL frame decoding */
uint8_t _decode_state_next = STATE_IDLE; /* State of frame decoding that will be applied when the next byte from dataframe drops in */
bool _in_failsafe = false;
int16_t _new_rssi = -1;
};