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AP_RCProtocol: move code from SRXL2.cpp into Backend.cpp 

NFC, just moving from one cpp to another
This commit is contained in:
Peter Barker 2023-03-19 10:54:45 +11:00 committed by Peter Barker
parent ff441de8ec
commit 75a0c592ab
5 changed files with 67 additions and 61 deletions
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2
libraries/AP_RCProtocol/AP_RCProtocol.cpp
View File

@ -23,9 +23,7 @@
#include "AP_RCProtocol_SBUS.h"
#include "AP_RCProtocol_SUMD.h"
#include "AP_RCProtocol_SRXL.h"
#ifndef IOMCU_FW
#include "AP_RCProtocol_SRXL2.h"
#endif
#include "AP_RCProtocol_CRSF.h"
#include "AP_RCProtocol_ST24.h"
#include "AP_RCProtocol_FPort.h"

64
libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp
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@ -20,6 +20,15 @@
#include <RC_Channel/RC_Channel.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include <AP_Logger/AP_Logger.h>
#include <AP_VideoTX/AP_VideoTX_config.h>
// for video TX configuration:
#if AP_VIDEOTX_ENABLED
#include <AP_VideoTX/AP_VideoTX.h>
#include "spm_srxl.h"
#endif
AP_RCProtocol_Backend::AP_RCProtocol_Backend(AP_RCProtocol &_frontend) :
frontend(_frontend),
@ -105,6 +114,61 @@ void AP_RCProtocol_Backend::decode_11bit_channels(const uint8_t* data, uint8_t n
}
}
#if AP_VIDEOTX_ENABLED
// configure the video transmitter, the input values are Spektrum-oriented
void AP_RCProtocol_Backend::configure_vtx(uint8_t band, uint8_t channel, uint8_t power, uint8_t pitmode)
{
AP_VideoTX& vtx = AP::vtx();
// VTX Band (0 = Fatshark, 1 = Raceband, 2 = E, 3 = B, 4 = A)
// map to TBS band A, B, E, Race, Airwave, LoRace
switch (band) {
case VTX_BAND_FATSHARK:
vtx.set_configured_band(AP_VideoTX::VideoBand::FATSHARK);
break;
case VTX_BAND_RACEBAND:
vtx.set_configured_band(AP_VideoTX::VideoBand::RACEBAND);
break;
case VTX_BAND_E_BAND:
vtx.set_configured_band(AP_VideoTX::VideoBand::BAND_E);
break;
case VTX_BAND_B_BAND:
vtx.set_configured_band(AP_VideoTX::VideoBand::BAND_B);
break;
case VTX_BAND_A_BAND:
vtx.set_configured_band(AP_VideoTX::VideoBand::BAND_A);
break;
default:
break;
}
// VTX Channel (0-7)
vtx.set_configured_channel(channel);
if (pitmode) {
vtx.set_configured_options(vtx.get_options() | uint8_t(AP_VideoTX::VideoOptions::VTX_PITMODE));
} else {
vtx.set_configured_options(vtx.get_options() & ~uint8_t(AP_VideoTX::VideoOptions::VTX_PITMODE));
}
switch (power) {
case VTX_POWER_1MW_14MW:
case VTX_POWER_15MW_25MW:
vtx.set_configured_power_mw(25);
break;
case VTX_POWER_26MW_99MW:
case VTX_POWER_100MW_299MW:
vtx.set_configured_power_mw(100);
break;
case VTX_POWER_300MW_600MW:
vtx.set_configured_power_mw(400);
break;
case VTX_POWER_601_PLUS:
vtx.set_configured_power_mw(800);
break;
default:
break;
}
}
#endif // AP_VIDEOTX_ENABLED
/*
optionally log RC input data
*/

3
libraries/AP_RCProtocol/AP_RCProtocol_Backend.h
View File

@ -19,6 +19,7 @@
#include "AP_RCProtocol.h"
#include <AP_HAL/utility/sparse-endian.h>
#include <AP_VideoTX/AP_VideoTX_config.h>
class AP_RCProtocol_Backend {
friend class AP_RCProtcol;
@ -91,8 +92,10 @@ public:
return true;
}
#if AP_VIDEOTX_ENABLED
// called by static methods to confiig video transmitters:
static void configure_vtx(uint8_t band, uint8_t channel, uint8_t power, uint8_t pitmode);
#endif
protected:

4
libraries/AP_RCProtocol/AP_RCProtocol_DSM.cpp
View File

@ -19,10 +19,6 @@
*/
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include "AP_RCProtocol_DSM.h"
#if !APM_BUILD_TYPE(APM_BUILD_iofirmware)
#include "AP_RCProtocol_SRXL2.h"
#endif
#include <AP_VideoTX/AP_VideoTX_config.h>
extern const AP_HAL::HAL& hal;

55
libraries/AP_RCProtocol/AP_RCProtocol_SRXL2.cpp
View File

@ -299,61 +299,6 @@ void AP_RCProtocol_SRXL2::send_on_uart(uint8_t* pBuffer, uint8_t length)
}
}
#if AP_VIDEOTX_ENABLED
// configure the video transmitter, the input values are Spektrum-oriented
void AP_RCProtocol_Backend::configure_vtx(uint8_t band, uint8_t channel, uint8_t power, uint8_t pitmode)
{
AP_VideoTX& vtx = AP::vtx();
// VTX Band (0 = Fatshark, 1 = Raceband, 2 = E, 3 = B, 4 = A)
// map to TBS band A, B, E, Race, Airwave, LoRace
switch (band) {
case VTX_BAND_FATSHARK:
vtx.set_configured_band(AP_VideoTX::VideoBand::FATSHARK);
break;
case VTX_BAND_RACEBAND:
vtx.set_configured_band(AP_VideoTX::VideoBand::RACEBAND);
break;
case VTX_BAND_E_BAND:
vtx.set_configured_band(AP_VideoTX::VideoBand::BAND_E);
break;
case VTX_BAND_B_BAND:
vtx.set_configured_band(AP_VideoTX::VideoBand::BAND_B);
break;
case VTX_BAND_A_BAND:
vtx.set_configured_band(AP_VideoTX::VideoBand::BAND_A);
break;
default:
break;
}
// VTX Channel (0-7)
vtx.set_configured_channel(channel);
if (pitmode) {
vtx.set_configured_options(vtx.get_options() | uint8_t(AP_VideoTX::VideoOptions::VTX_PITMODE));
} else {
vtx.set_configured_options(vtx.get_options() & ~uint8_t(AP_VideoTX::VideoOptions::VTX_PITMODE));
}
switch (power) {
case VTX_POWER_1MW_14MW:
case VTX_POWER_15MW_25MW:
vtx.set_configured_power_mw(25);
break;
case VTX_POWER_26MW_99MW:
case VTX_POWER_100MW_299MW:
vtx.set_configured_power_mw(100);
break;
case VTX_POWER_300MW_600MW:
vtx.set_configured_power_mw(400);
break;
case VTX_POWER_601_PLUS:
vtx.set_configured_power_mw(800);
break;
default:
break;
}
}
#endif // AP_VIDEOTX_ENABLED
// send data to the uart
void AP_RCProtocol_SRXL2::_send_on_uart(uint8_t* pBuffer, uint8_t length)
{