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AP_RCProtocol: add and use AP_RCPROTOCOL_ENABLED

This commit is contained in:
Peter Barker 2023-05-03 23:08:00 +10:00 committed by Andrew Tridgell
parent 49879ab28c
commit 2c00813aab
15 changed files with 110 additions and 14 deletions
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13
libraries/AP_RCProtocol/AP_RCProtocol.cpp
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@ -15,8 +15,12 @@
* Code by Andrew Tridgell and Siddharth Bharat Purohit
*/
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include "AP_RCProtocol_config.h"
#include "AP_RCProtocol.h"
#if AP_RCPROTOCOL_ENABLED
#include "AP_RCProtocol_PPMSum.h"
#include "AP_RCProtocol_DSM.h"
#include "AP_RCProtocol_IBUS.h"
@ -31,6 +35,8 @@
#include <AP_Math/AP_Math.h>
#include <RC_Channel/RC_Channel.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
extern const AP_HAL::HAL& hal;
void AP_RCProtocol::init()
@ -405,6 +411,8 @@ void AP_RCProtocol::start_bind(void)
}
}
#endif // AP_RCPROTOCOL_ENABLED
/*
return protocol name
*/
@ -459,6 +467,7 @@ const char *AP_RCProtocol::protocol_name_from_protocol(rcprotocol_t protocol)
return nullptr;
}
#if AP_RCPROTOCOL_ENABLED
/*
return protocol name
*/
@ -493,3 +502,5 @@ namespace AP {
return rcprot;
}
};
#endif // AP_RCPROTOCOL_ENABLED

21
libraries/AP_RCProtocol/AP_RCProtocol.h
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@ -28,9 +28,6 @@ class AP_RCProtocol_Backend;
class AP_RCProtocol {
public:
AP_RCProtocol() {}
~AP_RCProtocol();
friend class AP_RCProtocol_Backend;
enum rcprotocol_t {
PPM = 0,
@ -64,6 +61,16 @@ public:
#endif
NONE //last enum always is None
};
// return protocol name as a string
static const char *protocol_name_from_protocol(rcprotocol_t protocol);
#if AP_RCPROTOCOL_ENABLED
AP_RCProtocol() {}
~AP_RCProtocol();
friend class AP_RCProtocol_Backend;
void init();
bool valid_serial_prot() const
{
@ -134,9 +141,6 @@ public:
int16_t get_RSSI(void) const;
int16_t get_rx_link_quality(void) const;
// return protocol name as a string
static const char *protocol_name_from_protocol(rcprotocol_t protocol);
// return protocol name as a string
const char *protocol_name(void) const;
@ -196,10 +200,15 @@ private:
// allowed RC protocols mask (first bit means "all")
uint32_t rc_protocols_mask;
#endif // AP_RCPROTCOL_ENABLED
};
#if AP_RCPROTOCOL_ENABLED
namespace AP {
AP_RCProtocol &RC();
};
#include "AP_RCProtocol_Backend.h"
#endif // AP_RCProtocol_enabled

6
libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp
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@ -15,6 +15,10 @@
* Code by Andrew Tridgell and Siddharth Bharat Purohit
*/
#include "AP_RCProtocol_config.h"
#if AP_RCPROTOCOL_ENABLED
#include "AP_RCProtocol.h"
#include <AP_Math/AP_Math.h>
#include <RC_Channel/RC_Channel.h>
@ -207,3 +211,5 @@ void AP_RCProtocol_Backend::log_data(AP_RCProtocol::rcprotocol_t prot, uint32_t
}
#endif // HAL_LOGGING_ENABLED
}
#endif // AP_RCPROTOCOL_ENABLED

5
libraries/AP_RCProtocol/AP_RCProtocol_Backend.h
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@ -18,6 +18,9 @@
#pragma once
#include "AP_RCProtocol.h"
#if AP_RCPROTOCOL_ENABLED
#include <AP_HAL/utility/sparse-endian.h>
#include <AP_VideoTX/AP_VideoTX_config.h>
@ -131,3 +134,5 @@ private:
int16_t rssi = -1;
int16_t rx_link_quality = -1;
};
#endif // AP_RCPROTOCOL_ENABLED

8
libraries/AP_RCProtocol/AP_RCProtocol_DSM.cpp
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@ -17,7 +17,11 @@
/*
with thanks to PX4 dsm.c for DSM decoding approach
*/
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include "AP_RCProtocol_config.h"
#if AP_RCPROTOCOL_ENABLED
#include "AP_RCProtocol_DSM.h"
#include <AP_VideoTX/AP_VideoTX_config.h>
@ -534,3 +538,5 @@ void AP_RCProtocol_DSM::process_byte(uint8_t b, uint32_t baudrate)
}
_process_byte(AP_HAL::millis(), b);
}
#endif // AP_RCPROTOCOL_ENABLED

9
libraries/AP_RCProtocol/AP_RCProtocol_DSM.h
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@ -17,7 +17,12 @@
#pragma once
#include "AP_RCProtocol.h"
#include "AP_RCProtocol_config.h"
#if AP_RCPROTOCOL_ENABLED
#include "AP_RCProtocol_Backend.h"
#include "SoftSerial.h"
#define AP_DSM_MAX_CHANNELS 12
@ -77,3 +82,5 @@ private:
SoftSerial ss{115200, SoftSerial::SERIAL_CONFIG_8N1};
};
#endif // AP_RCPROTOCOL_ENABLED

6
libraries/AP_RCProtocol/AP_RCProtocol_IBUS.cpp
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@ -14,6 +14,10 @@
*
*/
#include "AP_RCProtocol_config.h"
#if AP_RCPROTOCOL_ENABLED
#include "AP_RCProtocol_IBUS.h"
// constructor
@ -105,3 +109,5 @@ void AP_RCProtocol_IBUS::process_byte(uint8_t b, uint32_t baudrate)
}
_process_byte(AP_HAL::micros(), b);
}
#endif // AP_RCPROTOCOL_ENABLED

9
libraries/AP_RCProtocol/AP_RCProtocol_IBUS.h
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@ -16,10 +16,15 @@
#pragma once
#include "AP_RCProtocol_config.h"
#if AP_RCPROTOCOL_ENABLED
#define IBUS_FRAME_SIZE 32
#define IBUS_INPUT_CHANNELS 14
#include "AP_RCProtocol.h"
#include "AP_RCProtocol_Backend.h"
#include "SoftSerial.h"
class AP_RCProtocol_IBUS : public AP_RCProtocol_Backend
@ -40,3 +45,5 @@ private:
uint32_t last_byte_us;
} byte_input;
};
#endif // AP_RCPROTOCOL_ENABLED

4
libraries/AP_RCProtocol/AP_RCProtocol_PPMSum.cpp
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@ -17,6 +17,8 @@
#include "AP_RCProtocol_PPMSum.h"
#if AP_RCPROTOCOL_ENABLED
/*
process a PPM-sum pulse of the given width
*/
@ -63,3 +65,5 @@ void AP_RCProtocol_PPMSum::process_pulse(uint32_t width_s0, uint32_t width_s1)
ppm_state._channel_counter = -1;
}
}
#endif // AP_RCPROTOCOL_ENABLED

8
libraries/AP_RCProtocol/AP_RCProtocol_PPMSum.h
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@ -16,7 +16,11 @@
*/
#pragma once
#include "AP_RCProtocol.h"
#include "AP_RCProtocol_config.h"
#if AP_RCPROTOCOL_ENABLED
#include "AP_RCProtocol_Backend.h"
class AP_RCProtocol_PPMSum : public AP_RCProtocol_Backend {
public:
@ -29,3 +33,5 @@ private:
uint16_t _pulse_capt[MAX_RCIN_CHANNELS];
} ppm_state;
};
#endif // AP_RCPROTOCOL_ENABLED

6
libraries/AP_RCProtocol/AP_RCProtocol_ST24.cpp
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@ -42,6 +42,10 @@
*
* @author Marco Bauer <marco@wtns.de>
*/
#include "AP_RCProtocol_config.h"
#if AP_RCPROTOCOL_ENABLED
#include "AP_RCProtocol_ST24.h"
// #define SUMD_DEBUG
@ -233,3 +237,5 @@ void AP_RCProtocol_ST24::process_byte(uint8_t byte, uint32_t baudrate)
}
_process_byte(byte);
}
#endif // AP_RCPROTOCOL_ENABLED

8
libraries/AP_RCProtocol/AP_RCProtocol_ST24.h
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@ -17,7 +17,11 @@
#pragma once
#include "AP_RCProtocol.h"
#include "AP_RCProtocol_config.h"
#if AP_RCPROTOCOL_ENABLED
#include "AP_RCProtocol_Backend.h"
#include "SoftSerial.h"
#define ST24_DATA_LEN_MAX 64
@ -149,3 +153,5 @@ private:
SoftSerial ss{115200, SoftSerial::SERIAL_CONFIG_8N1};
};
#endif // AP_RCPROTOCOL_ENABLED

7
libraries/AP_RCProtocol/AP_RCProtocol_SUMD.cpp
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@ -42,7 +42,12 @@
*
* @author Marco Bauer <marco@wtns.de>
*/
#include "AP_RCProtocol_config.h"
#if AP_RCPROTOCOL_ENABLED
#include "AP_RCProtocol_SUMD.h"
#include <AP_Math/crc.h>
#define SUMD_HEADER_LENGTH 3
@ -332,3 +337,5 @@ void AP_RCProtocol_SUMD::process_byte(uint8_t byte, uint32_t baudrate)
}
_process_byte(AP_HAL::micros(), byte);
}
#endif // AP_RCPROTOCOL_ENABLED

8
libraries/AP_RCProtocol/AP_RCProtocol_SUMD.h
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@ -17,7 +17,11 @@
#pragma once
#include "AP_RCProtocol.h"
#include "AP_RCProtocol_config.h"
#if AP_RCPROTOCOL_ENABLED
#include "AP_RCProtocol_Backend.h"
#include "SoftSerial.h"
#define SUMD_MAX_CHANNELS 32
@ -68,3 +72,5 @@ private:
SoftSerial ss{115200, SoftSerial::SERIAL_CONFIG_8N1};
};
#endif // AP_RCPROTOCOL_ENABLED

6
libraries/AP_RCProtocol/AP_RCProtocol_config.h
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@ -3,8 +3,12 @@
#include <AP_HAL/AP_HAL_Boards.h>
#include <AP_Frsky_Telem/AP_Frsky_config.h>
#ifndef AP_RCPROTOCOL_ENABLED
#define AP_RCPROTOCOL_ENABLED 1
#endif
#ifndef AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED
#define AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED 1
#define AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED AP_RCPROTOCOL_ENABLED
#endif
#ifndef AP_RCPROTOCOL_CRSF_ENABLED