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AP_RCProtocol: support an additional uart on RC input

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this will allow for any UART to be configured as an additional RC
input source
This commit is contained in:
Andrew Tridgell 2019-08-27 17:40:22 +10:00
parent ad2890dc5a
commit 2b856abdd1
2 changed files with 87 additions and 13 deletions
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74
libraries/AP_RCProtocol/AP_RCProtocol.cpp
View File

@ -23,9 +23,7 @@
#include "AP_RCProtocol_SUMD.h"
#include "AP_RCProtocol_SRXL.h"
#include "AP_RCProtocol_ST24.h"
// singleton
AP_RCProtocol *AP_RCProtocol::_singleton;
#include <AP_Math/AP_Math.h>
void AP_RCProtocol::init()
{
@ -47,7 +45,6 @@ AP_RCProtocol::~AP_RCProtocol()
backend[i] = nullptr;
}
}
_singleton = nullptr;
}
void AP_RCProtocol::process_pulse(uint32_t width_s0, uint32_t width_s1)
@ -157,11 +154,62 @@ void AP_RCProtocol::process_byte(uint8_t byte, uint32_t baudrate)
}
}
/*
check for bytes from an additional uart. This is used to support RC
protocols from SERIALn_PROTOCOL
*/
void AP_RCProtocol::check_added_uart(void)
{
if (!added.uart) {
return;
}
uint32_t now = AP_HAL::millis();
bool searching = (now - _last_input_ms >= 200);
if (!searching && !_detected_with_bytes) {
// not using this uart
return;
}
if (!added.opened) {
added.uart->begin(added.baudrate, 128, 128);
added.opened = true;
if (added.baudrate == 100000) {
// assume SBUS settings, even parity, 2 stop bits
added.uart->configure_parity(2);
added.uart->set_stop_bits(2);
added.uart->set_options(added.uart->get_options() | AP_HAL::UARTDriver::OPTION_RXINV);
} else {
// setup for 115200 protocols
added.uart->configure_parity(0);
added.uart->set_stop_bits(1);
added.uart->set_options(added.uart->get_options() & ~AP_HAL::UARTDriver::OPTION_RXINV);
}
added.last_baud_change_ms = AP_HAL::millis();
}
uint32_t n = added.uart->available();
n = MIN(n, 255U);
for (uint8_t i=0; i<n; i++) {
int16_t b = added.uart->read();
if (b >= 0) {
process_byte(uint8_t(b), added.baudrate);
}
}
if (!_detected_with_bytes) {
if (now - added.last_baud_change_ms > 1000) {
// flip baudrates if not detected once a second
added.baudrate = (added.baudrate==100000)?115200:100000;
added.opened = false;
}
}
}
bool AP_RCProtocol::new_input()
{
bool ret = _new_input;
_new_input = false;
// if we have an extra UART from a SERIALn_PROTOCOL then check it for data
check_added_uart();
// run update function on backends
for (uint8_t i = 0; i < AP_RCProtocol::NONE; i++) {
if (backend[i] != nullptr) {
@ -233,3 +281,21 @@ const char *AP_RCProtocol::protocol_name(void) const
{
return protocol_name_from_protocol(_detected_protocol);
}
/*
add a uart to decode
*/
void AP_RCProtocol::add_uart(AP_HAL::UARTDriver* uart)
{
added.uart = uart;
// start with DSM
added.baudrate = 115200U;
}
namespace AP {
AP_RCProtocol &RC()
{
static AP_RCProtocol rcprot;
return rcprot;
}
};

26
libraries/AP_RCProtocol/AP_RCProtocol.h
View File

@ -25,9 +25,7 @@ class AP_RCProtocol_Backend;
class AP_RCProtocol {
public:
AP_RCProtocol() {
_singleton = this;
}
AP_RCProtocol() {}
~AP_RCProtocol();
enum rcprotocol_t {
@ -78,13 +76,13 @@ public:
enum rcprotocol_t protocol_detected(void) const {
return _detected_protocol;
}
// access to singleton
static AP_RCProtocol *get_singleton(void) {
return _singleton;
}
// add a UART for RCIN
void add_uart(AP_HAL::UARTDriver* uart);
private:
void check_added_uart(void);
enum rcprotocol_t _detected_protocol = NONE;
uint16_t _disabled_for_pulses;
bool _detected_with_bytes;
@ -94,7 +92,17 @@ private:
bool _valid_serial_prot = false;
uint8_t _good_frames[NONE];
static AP_RCProtocol *_singleton;
// optional additional uart
struct {
AP_HAL::UARTDriver *uart;
uint32_t baudrate;
bool opened;
uint32_t last_baud_change_ms;
} added;
};
namespace AP {
AP_RCProtocol &RC();
};
#include "AP_RCProtocol_Backend.h"