Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 07:44:03 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_RCProtocol: use SoftSerial clock for SRXL

Browse Source
This commit is contained in:
Andrew Tridgell 2018-11-05 14:56:16 +11:00
parent 3bd27ba094
commit 696d4b47a1
2 changed files with 7 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
libraries/AP_RCProtocol/AP_RCProtocol_SRXL.cpp
View File

@ -51,10 +51,8 @@ void AP_RCProtocol_SRXL::process_pulse(uint32_t width_s0, uint32_t width_s1)
{
uint8_t b;
if (ss.process_pulse(width_s0, width_s1, b)) {
_process_byte(clock_us, b, 115200);
_process_byte(ss.get_byte_timestamp_us(), b);
}
// keep a clock based on the pulses
clock_us += (width_s0 + width_s1);
}
@ -195,7 +193,7 @@ int AP_RCProtocol_SRXL::srxl_channels_get_v5(uint16_t max_values, uint8_t *num_v
return 0;
}
void AP_RCProtocol_SRXL::_process_byte(uint32_t timestamp_us, uint8_t byte, uint32_t baudrate)
void AP_RCProtocol_SRXL::_process_byte(uint32_t timestamp_us, uint8_t byte)
{
/*----------------------------------------distinguish different srxl variants at the beginning of each frame---------------------------------------------- */
/* Check if we have a new begin of a frame --> indicators: Time gap in datastream + SRXL header 0xA<VARIANT>*/
@ -296,5 +294,8 @@ void AP_RCProtocol_SRXL::_process_byte(uint32_t timestamp_us, uint8_t byte, uint
*/
void AP_RCProtocol_SRXL::process_byte(uint8_t byte, uint32_t baudrate)
{
_process_byte(AP_HAL::micros(), byte, baudrate);
if (baudrate != 115200) {
return;
}
_process_byte(AP_HAL::micros(), byte);
}

3
libraries/AP_RCProtocol/AP_RCProtocol_SRXL.h
View File

@ -42,7 +42,7 @@ public:
void process_pulse(uint32_t width_s0, uint32_t width_s1) override;
void process_byte(uint8_t byte, uint32_t baudrate) override;
private:
void _process_byte(uint32_t timestamp_us, uint8_t byte, uint32_t baudrate);
void _process_byte(uint32_t timestamp_us, uint8_t byte);
static uint16_t srxl_crc16(uint16_t crc, uint8_t new_byte);
int srxl_channels_get_v1v2(uint16_t max_values, uint8_t *num_values, uint16_t *values, bool *failsafe_state);
int srxl_channels_get_v5(uint16_t max_values, uint8_t *num_values, uint16_t *values, bool *failsafe_state);
@ -62,7 +62,6 @@ private:
uint8_t decode_state_next = STATE_IDLE; /* State of frame decoding thatwill be applied when the next byte from dataframe drops in */
uint16_t crc_fmu = 0U; /* CRC calculated over payload from srxl datastream on this machine */
uint16_t crc_receiver = 0U; /* CRC extracted from srxl datastream */
uint32_t clock_us; /* clock calculated from pulse lengths */
SoftSerial ss{115200, SoftSerial::SERIAL_CONFIG_8N1};
};