ardupilot/libraries/SITL/SIM_Frsky_D.cpp

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/*
This program 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 program 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/>.
*/
/*
Base class for FrSky D telemetry
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*/
#include "SIM_Frsky_D.h"
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#include <AP_HAL/AP_HAL.h>
extern const AP_HAL::HAL& hal;
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using namespace SITL;
// sadly, this pulls START_STOP_D etc in from the frsky header.
#include <GCS_MAVLink/GCS.h>
static const uint8_t START_STOP_D = 0x5E;
static const uint8_t BYTESTUFF_D = 0x5D;
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void Frsky_D::handle_data(uint8_t id, uint16_t data)
{
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hal.console->printf(
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"Frsky: id=%s (0x%02X) data=%u\n",
dataid_string((DataID)id),
(unsigned)_id,
(unsigned)data);
}
void Frsky_D::update()
{
const ssize_t n = read_from_autopilot(&_buffer[_buflen], ARRAY_SIZE(_buffer) - _buflen - 1);
if (n != -1) {
_buflen += n;
}
if (_buflen == 0) {
return;
}
while (_buflen) {
switch (_state) {
case State::WANT_START_STOP_D:
if (_buffer[0] != START_STOP_D) {
AP_HAL::panic("Corrupt?");
// _lost_bytes++;
continue;
}
memcpy(&_buffer[0], &_buffer[1], --_buflen); //srsly?!
_state = State::WANT_ID;
break;
case State::WANT_ID:
_id = _buffer[0];
memcpy(&_buffer[0], &_buffer[1], --_buflen); //srsly?!
_state = State::WANT_BYTE1;
break;
case State::WANT_BYTE1:
case State::WANT_BYTE2: {
uint8_t byte;
uint8_t consume = 1;
if (_buffer[0] == 0x5D) {
// byte-stuffed
if (_buflen < 2) {
return;
}
if (_buffer[1] == 0x3E) {
byte = START_STOP_D;
} else if (_buffer[1] == 0x3D) {
byte = BYTESTUFF_D;
} else {
AP_HAL::panic("Unknown stuffed byte");
}
consume = 2;
} else {
byte = _buffer[0];
}
memcpy(&_buffer[0], &_buffer[consume], _buflen-consume);
_buflen -= consume;
switch (_state) {
case State::WANT_ID:
case State::WANT_START_STOP_D:
AP_HAL::panic("Should not get here");
case State::WANT_BYTE1:
_data = byte;
_state = State::WANT_BYTE2;
break;
case State::WANT_BYTE2:
_data |= byte << 8;
handle_data(_id, _data);
_state = State::WANT_START_STOP_D;
break;
}
}
}
}
}