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AP_RCProtocol: add and use RC_Channel_config.h

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This commit is contained in:
Peter Barker 2023-03-19 20:26:16 +11:00 committed by Peter Barker
parent 32086826de
commit b26cd59da6
4 changed files with 11 additions and 5 deletions
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8
libraries/AP_RCProtocol/AP_RCProtocol.cpp
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@ -74,7 +74,7 @@ AP_RCProtocol::~AP_RCProtocol()
bool AP_RCProtocol::should_search(uint32_t now_ms) const bool AP_RCProtocol::should_search(uint32_t now_ms) const
{ {
#if !defined(IOMCU_FW) && !APM_BUILD_TYPE(APM_BUILD_UNKNOWN) #if AP_RC_CHANNEL_ENABLED && !APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
if (_detected_protocol != AP_RCProtocol::NONE && !rc().multiple_receiver_support()) { if (_detected_protocol != AP_RCProtocol::NONE && !rc().multiple_receiver_support()) {
return false; return false;
} }
@ -92,7 +92,7 @@ void AP_RCProtocol::process_pulse(uint32_t width_s0, uint32_t width_s1)
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();
bool searching = should_search(now); bool searching = should_search(now);
#ifndef IOMCU_FW #if AP_RC_CHANNEL_ENABLED
rc_protocols_mask = rc().enabled_protocols(); rc_protocols_mask = rc().enabled_protocols();
#endif #endif
@ -176,7 +176,7 @@ bool AP_RCProtocol::process_byte(uint8_t byte, uint32_t baudrate)
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();
bool searching = should_search(now); bool searching = should_search(now);
#ifndef IOMCU_FW #if AP_RC_CHANNEL_ENABLED
rc_protocols_mask = rc().enabled_protocols(); rc_protocols_mask = rc().enabled_protocols();
#endif #endif
@ -297,7 +297,7 @@ void AP_RCProtocol::check_added_uart(void)
added.last_config_change_ms = AP_HAL::millis(); added.last_config_change_ms = AP_HAL::millis();
serial_configs[added.config_num].apply_to_uart(added.uart); serial_configs[added.config_num].apply_to_uart(added.uart);
} }
#ifndef IOMCU_FW #if AP_RC_CHANNEL_ENABLED
rc_protocols_mask = rc().enabled_protocols(); rc_protocols_mask = rc().enabled_protocols();
#endif #endif
const uint32_t current_baud = serial_configs[added.config_num].baud; const uint32_t current_baud = serial_configs[added.config_num].baud;

2
libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp
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@ -65,7 +65,7 @@ void AP_RCProtocol_Backend::add_input(uint8_t num_values, uint16_t *values, bool
_num_channels = num_values; _num_channels = num_values;
rc_frame_count++; rc_frame_count++;
frontend.set_failsafe_active(in_failsafe); frontend.set_failsafe_active(in_failsafe);
#if APM_BUILD_TYPE(APM_BUILD_iofirmware) #if !AP_RC_CHANNEL_ENABLED
// failsafed is sorted out in AP_IOMCU.cpp // failsafed is sorted out in AP_IOMCU.cpp
in_failsafe = false; in_failsafe = false;
#else #else

2
libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
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@ -301,8 +301,10 @@ void AP_RCProtocol_CRSF::update(void)
_last_frame_time_us = now; _last_frame_time_us = now;
} }
#if AP_RC_CHANNEL_ENABLED
//Check if LQ is to be reported in place of RSSI //Check if LQ is to be reported in place of RSSI
_use_lq_for_rssi = bool(rc().use_crsf_lq_as_rssi()); _use_lq_for_rssi = bool(rc().use_crsf_lq_as_rssi());
#endif
} }
// write out a frame of any type // write out a frame of any type

4
libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h
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@ -43,7 +43,11 @@ public:
bool change_baud_rate(uint32_t baudrate); bool change_baud_rate(uint32_t baudrate);
// bootstrap baudrate // bootstrap baudrate
uint32_t get_bootstrap_baud_rate() const { uint32_t get_bootstrap_baud_rate() const {
#if AP_RC_CHANNEL_ENABLED
return rc().use_420kbaud_for_elrs() ? ELRS_BAUDRATE : CRSF_BAUDRATE; return rc().use_420kbaud_for_elrs() ? ELRS_BAUDRATE : CRSF_BAUDRATE;
#else
return CRSF_BAUDRATE;
#endif
} }
// is the receiver active, used to detect power loss and baudrate changes // is the receiver active, used to detect power loss and baudrate changes