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AP_RCProtocol: support FPort RSSI

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This commit is contained in:
Andrew Tridgell 2019-12-02 18:47:12 +11:00
parent 6447cc2519
commit a72eaabc96
5 changed files with 20 additions and 3 deletions
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8
libraries/AP_RCProtocol/AP_RCProtocol.cpp
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@ -257,6 +257,14 @@ uint16_t AP_RCProtocol::read(uint8_t chan)
return 0; return 0;
} }
int16_t AP_RCProtocol::get_RSSI(void) const
{
if (_detected_protocol != AP_RCProtocol::NONE) {
return backend[_detected_protocol]->get_RSSI();
}
return -1;
}
/* /*
ask for bind start on supported receivers (eg spektrum satellite) ask for bind start on supported receivers (eg spektrum satellite)
*/ */

1
libraries/AP_RCProtocol/AP_RCProtocol.h
View File

@ -63,6 +63,7 @@ public:
uint16_t read(uint8_t chan); uint16_t read(uint8_t chan);
bool new_input(); bool new_input();
void start_bind(void); void start_bind(void);
int16_t get_RSSI(void) const;
// return protocol name as a string // return protocol name as a string
static const char *protocol_name_from_protocol(rcprotocol_t protocol); static const char *protocol_name_from_protocol(rcprotocol_t protocol);

3
libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp
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@ -49,7 +49,7 @@ uint16_t AP_RCProtocol_Backend::read(uint8_t chan)
/* /*
provide input from a backend provide input from a backend
*/ */
void AP_RCProtocol_Backend::add_input(uint8_t num_values, uint16_t *values, bool in_failsafe) void AP_RCProtocol_Backend::add_input(uint8_t num_values, uint16_t *values, bool in_failsafe, int16_t _rssi)
{ {
num_values = MIN(num_values, MAX_RCIN_CHANNELS); num_values = MIN(num_values, MAX_RCIN_CHANNELS);
memcpy(_pwm_values, values, num_values*sizeof(uint16_t)); memcpy(_pwm_values, values, num_values*sizeof(uint16_t));
@ -63,4 +63,5 @@ void AP_RCProtocol_Backend::add_input(uint8_t num_values, uint16_t *values, bool
if (!in_failsafe) { if (!in_failsafe) {
rc_input_count++; rc_input_count++;
} }
rssi = _rssi;
} }

8
libraries/AP_RCProtocol/AP_RCProtocol_Backend.h
View File

@ -51,8 +51,13 @@ public:
return rc_input_count; return rc_input_count;
} }
// get RSSI
int16_t get_RSSI(void) const {
return rssi;
}
protected: protected:
void add_input(uint8_t num_channels, uint16_t *values, bool in_failsafe); void add_input(uint8_t num_channels, uint16_t *values, bool in_failsafe, int16_t rssi=-1);
private: private:
AP_RCProtocol &frontend; AP_RCProtocol &frontend;
@ -62,4 +67,5 @@ private:
uint16_t _pwm_values[MAX_RCIN_CHANNELS]; uint16_t _pwm_values[MAX_RCIN_CHANNELS];
uint8_t _num_channels; uint8_t _num_channels;
int16_t rssi = -1;
}; };

3
libraries/AP_RCProtocol/AP_RCProtocol_FPort.cpp
View File

@ -14,6 +14,7 @@
*/ */
#include "AP_RCProtocol_FPort.h" #include "AP_RCProtocol_FPort.h"
#include <AP_Vehicle/AP_Vehicle_Type.h>
#define FRAME_HEAD 0x7E #define FRAME_HEAD 0x7E
#define FRAME_LEN_CONTROL 0x19 #define FRAME_LEN_CONTROL 0x19
@ -104,7 +105,7 @@ void AP_RCProtocol_FPort::decode_control(const FPort_Frame &frame)
} }
bool failsafe = ((frame.control.flags & (1 << FLAGS_FAILSAFE_BIT)) != 0); bool failsafe = ((frame.control.flags & (1 << FLAGS_FAILSAFE_BIT)) != 0);
add_input(MAX_CHANNELS, values, failsafe); add_input(MAX_CHANNELS, values, failsafe, frame.control.rssi);
} }
// decode a full FPort downlink frame // decode a full FPort downlink frame