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AP_RCProtocol: allow selection of protocols for pulse input

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This commit is contained in:
Andrew Tridgell 2018-11-02 22:25:05 +11:00
parent 9354aca07d
commit 68c9f52b3e
3 changed files with 12 additions and 10 deletions
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12
libraries/AP_RCProtocol/AP_RCProtocol.cpp
View File

@ -56,13 +56,11 @@ void AP_RCProtocol::process_pulse(uint32_t width_s0, uint32_t width_s1)
}
// otherwise scan all protocols
rcprotocol_t last_protocol = AP_RCProtocol::NONE;
#ifdef HAL_RCIN_PULSE_PPM_ONLY
// only uses pulses for PPM on this board, using process_byte() for
// other protocols
last_protocol = (rcprotocol_t)1;
#endif
for (uint8_t i = 0; i < last_protocol; i++) {
for (uint8_t i = 0; i < AP_RCProtocol::NONE; i++) {
if (_disabled_for_pulses & (1U << i)) {
// this protocol is disabled for pulse input
continue;
}
if (backend[i] != nullptr) {
backend[i]->process_pulse(width_s0, width_s1);
if (backend[i]->new_input()) {

6
libraries/AP_RCProtocol/AP_RCProtocol.h
View File

@ -45,6 +45,11 @@ public:
}
void process_pulse(uint32_t width_s0, uint32_t width_s1);
void process_byte(uint8_t byte, uint32_t baudrate);
void disable_for_pulses(enum rcprotocol_t protocol) {
_disabled_for_pulses |= (1U<<(uint8_t)protocol);
}
enum rcprotocol_t protocol_detected()
{
return _detected_protocol;
@ -61,6 +66,7 @@ public:
private:
enum rcprotocol_t _detected_protocol = NONE;
uint16_t _disabled_for_pulses;
bool _detected_with_bytes;
AP_RCProtocol_Backend *backend[NONE];
bool _new_input = false;

4
libraries/AP_RCProtocol/AP_RCProtocol_PPMSum.h
View File

@ -18,8 +18,6 @@
#include "AP_RCProtocol.h"
#define MAX_PPM_CHANNELS 16
class AP_RCProtocol_PPMSum : public AP_RCProtocol_Backend {
public:
AP_RCProtocol_PPMSum(AP_RCProtocol &_frontend) : AP_RCProtocol_Backend(_frontend) {}
@ -30,4 +28,4 @@ private:
int8_t _channel_counter;
uint16_t _pulse_capt[MAX_RCIN_CHANNELS];
} ppm_state;
};
};