Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_RCProtocol: use data structure for serial configurations

This commit is contained in:
Peter Barker 2021-11-11 11:34:49 +11:00 committed by Peter Barker
parent c1cdfb448c
commit 411ed0f50e
2 changed files with 47 additions and 48 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

73
libraries/AP_RCProtocol/AP_RCProtocol.cpp
View File

@ -238,6 +238,31 @@ void AP_RCProtocol::process_handshake( uint32_t baudrate)
check for bytes from an additional uart. This is used to support RC
protocols from SERIALn_PROTOCOL
*/
void AP_RCProtocol::SerialConfig::apply_to_uart(AP_HAL::UARTDriver *uart) const
{
uart->configure_parity(parity);
uart->set_stop_bits(stop_bits);
if (invert_rx) {
uart->set_options(uart->get_options() | AP_HAL::UARTDriver::OPTION_RXINV);
} else {
uart->set_options(uart->get_options() & ~AP_HAL::UARTDriver::OPTION_RXINV);
}
uart->begin(baud, 128, 128);
}
static const AP_RCProtocol::SerialConfig serial_configs[] {
// BAUD PRTY STOP INVERT-RX
// inverted and uninverted 115200 8N1:
{ 115200, 0, 1, false },
{ 115200, 0, 1, true },
// SBUS settings, even parity, 2 stop bits:
{ 100000, 2, 2, true },
// CrossFire:
{ 416666, 0, 1, false },
};
static_assert(ARRAY_SIZE(serial_configs) > 1, "must have at least one serial config");
void AP_RCProtocol::check_added_uart(void)
{
if (!added.uart) {
@ -251,55 +276,29 @@ void AP_RCProtocol::check_added_uart(void)
}
if (!added.opened) {
added.opened = true;
switch (added.phase) {
case CONFIG_115200_8N1:
added.baudrate = 115200;
added.uart->configure_parity(0);
added.uart->set_stop_bits(1);
added.uart->set_options(added.uart->get_options() & ~AP_HAL::UARTDriver::OPTION_RXINV);
break;
case CONFIG_115200_8N1I:
added.baudrate = 115200;
added.uart->configure_parity(0);
added.uart->set_stop_bits(1);
added.uart->set_options(added.uart->get_options() | AP_HAL::UARTDriver::OPTION_RXINV);
break;
case CONFIG_100000_8E2I:
// assume SBUS settings, even parity, 2 stop bits
added.baudrate = 100000;
added.uart->configure_parity(2);
added.uart->set_stop_bits(2);
added.uart->set_options(added.uart->get_options() | AP_HAL::UARTDriver::OPTION_RXINV);
break;
case CONFIG_420000_8N1:
added.baudrate = CRSF_BAUDRATE;
added.uart->configure_parity(0);
added.uart->set_stop_bits(1);
added.uart->set_options(added.uart->get_options() & ~AP_HAL::UARTDriver::OPTION_RXINV);
break;
}
added.uart->begin(added.baudrate, 128, 128);
added.last_baud_change_ms = AP_HAL::millis();
added.last_config_change_ms = AP_HAL::millis();
serial_configs[added.config_num].apply_to_uart(added.uart);
}
#ifndef IOMCU_FW
rc_protocols_mask = rc().enabled_protocols();
#endif
process_handshake(added.baudrate);
const uint32_t current_baud = serial_configs[added.config_num].baud;
process_handshake(current_baud);
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);
process_byte(uint8_t(b), current_baud);
}
}
if (!_detected_with_bytes) {
if (now - added.last_baud_change_ms > 1000) {
// flip baudrates if not detected once a second
added.phase = (enum config_phase)(uint8_t(added.phase) + 1);
if (added.phase > CONFIG_420000_8N1) {
added.phase = (enum config_phase)0;
if (now - added.last_config_change_ms > 1000) {
// change configs if not detected once a second
added.config_num++;
if (added.config_num >= ARRAY_SIZE(serial_configs)) {
added.config_num = 0;
}
added.opened = false;
}
@ -427,8 +426,6 @@ void AP_RCProtocol::add_uart(AP_HAL::UARTDriver* uart)
{
added.uart = uart;
added.uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
// start with DSM
added.baudrate = 115200U;
}
// return true if a specific protocol is enabled

22
libraries/AP_RCProtocol/AP_RCProtocol.h
View File

@ -111,6 +111,16 @@ public:
}
#endif
class SerialConfig {
public:
void apply_to_uart(AP_HAL::UARTDriver *uart) const;
uint32_t baud;
uint8_t parity;
uint8_t stop_bits;
bool invert_rx;
};
private:
void check_added_uart(void);
@ -125,20 +135,12 @@ private:
uint32_t _last_input_ms;
bool _valid_serial_prot;
enum config_phase {
CONFIG_115200_8N1 = 0,
CONFIG_115200_8N1I = 1,
CONFIG_100000_8E2I = 2,
CONFIG_420000_8N1 = 3,
};
// optional additional uart
struct {
AP_HAL::UARTDriver *uart;
uint32_t baudrate;
bool opened;
uint32_t last_baud_change_ms;
enum config_phase phase;
uint32_t last_config_change_ms;
uint8_t config_num;
} added;
// allowed RC protocols mask (first bit means "all")