Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_RCProtocol: support byte input for DSM

Browse Source
This commit is contained in:
Andrew Tridgell 2018-11-01 11:21:26 +11:00
parent 56d0d6b9be
commit ae0ccbcea9
2 changed files with 28 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
libraries/AP_RCProtocol/AP_RCProtocol_DSM.cpp
View File

@ -440,3 +440,25 @@ void AP_RCProtocol_DSM::update(void)
}
#endif
}
// support byte input
void AP_RCProtocol_DSM::process_byte(uint8_t b)
{
uint32_t now = AP_HAL::millis();
if (now - byte_input.last_byte_ms > 3 ||
byte_input.ofs == sizeof(byte_input.buf)) {
byte_input.ofs = 0;
}
byte_input.last_byte_ms = now;
byte_input.buf[byte_input.ofs++] = b;
if (byte_input.ofs == 16) {
uint16_t values[8];
uint16_t num_values=0;
if (dsm_decode(AP_HAL::micros64(), byte_input.buf, values, &num_values, 8) &&
num_values >= MIN_RCIN_CHANNELS) {
add_input(num_values, values, false);
}
byte_input.ofs = 0;
}
}

6
libraries/AP_RCProtocol/AP_RCProtocol_DSM.h
View File

@ -23,6 +23,7 @@ class AP_RCProtocol_DSM : public AP_RCProtocol_Backend {
public:
AP_RCProtocol_DSM(AP_RCProtocol &_frontend) : AP_RCProtocol_Backend(_frontend) {}
void process_pulse(uint32_t width_s0, uint32_t width_s1) override;
void process_byte(uint8_t byte) override;
void start_bind(void) override;
void update(void) override;
@ -51,4 +52,9 @@ private:
} bind_state;
uint32_t bind_last_ms;
struct {
uint8_t buf[16];
uint8_t ofs;
uint32_t last_byte_ms;
} byte_input;
};