AP_RCProtocol: added check on baudrate in process_byte()

and support process_byte() in SBUS input

libraries/AP_RCProtocol/AP_RCProtocol.cpp

@@ -56,7 +56,13 @@ void AP_RCProtocol::process_pulse(uint32_t width_s0, uint32_t width_s1)
     }
 
     // otherwise scan all protocols
-    for (uint8_t i = 0; i < AP_RCProtocol::NONE; i++) {
+    rcprotocol_t last_protocol = AP_RCProtocol::NONE;
+#ifdef HAL_RCIN_PULSE_PPM_ONLY
+    // only uses pulses for PPM on this board, using process_byte() for
+    // other protocols
+    last_protocol = (rcprotocol_t)1;
+#endif
+    for (uint8_t i = 0; i < last_protocol; i++) {
         if (backend[i] != nullptr) {
             backend[i]->process_pulse(width_s0, width_s1);
             if (backend[i]->new_input()) {
@@ -69,7 +75,7 @@ void AP_RCProtocol::process_pulse(uint32_t width_s0, uint32_t width_s1)
     }
 }
 
-void AP_RCProtocol::process_byte(uint8_t byte)
+void AP_RCProtocol::process_byte(uint8_t byte, uint32_t baudrate)
 {
     if (_detected_protocol != AP_RCProtocol::NONE && !_detected_with_bytes) {
         // we're using pulse inputs, discard bytes
@@ -78,7 +84,7 @@ void AP_RCProtocol::process_byte(uint8_t byte)
     uint32_t now = AP_HAL::millis();
     // first try current protocol
     if (_detected_protocol != AP_RCProtocol::NONE && now - _last_input_ms < 200) {
-        backend[_detected_protocol]->process_byte(byte);
+        backend[_detected_protocol]->process_byte(byte, baudrate);
         if (backend[_detected_protocol]->new_input()) {
             _new_input = true;
             _last_input_ms = AP_HAL::millis();
@@ -89,7 +95,7 @@ void AP_RCProtocol::process_byte(uint8_t byte)
     // otherwise scan all protocols
     for (uint8_t i = 0; i < AP_RCProtocol::NONE; i++) {
         if (backend[i] != nullptr) {
-            backend[i]->process_byte(byte);
+            backend[i]->process_byte(byte, baudrate);
             if (backend[i]->new_input()) {
                 _new_input = true;
                 _detected_protocol = (enum AP_RCProtocol::rcprotocol_t)i;

libraries/AP_RCProtocol/AP_RCProtocol.h

@@ -44,7 +44,7 @@ public:
         return _valid_serial_prot;
     }
     void process_pulse(uint32_t width_s0, uint32_t width_s1);
-    void process_byte(uint8_t byte);
+    void process_byte(uint8_t byte, uint32_t baudrate);
     enum rcprotocol_t protocol_detected()
     {
         return _detected_protocol;

libraries/AP_RCProtocol/AP_RCProtocol_Backend.h

@@ -25,7 +25,7 @@ class AP_RCProtocol_Backend {
 public:
     AP_RCProtocol_Backend(AP_RCProtocol &_frontend);
     virtual void process_pulse(uint32_t width_s0, uint32_t width_s1) {}
-    virtual void process_byte(uint8_t byte) {}
+    virtual void process_byte(uint8_t byte, uint32_t baudrate) {}
     uint16_t read(uint8_t chan);
     bool new_input();
     uint8_t num_channels();

libraries/AP_RCProtocol/AP_RCProtocol_DSM.cpp

@@ -442,8 +442,11 @@ void AP_RCProtocol_DSM::update(void)
 }
 
 // support byte input
-void AP_RCProtocol_DSM::process_byte(uint8_t b)
+void AP_RCProtocol_DSM::process_byte(uint8_t b, uint32_t baudrate)
 {
+    if (baudrate != 115200) {
+        return;
+    }
     uint32_t now = AP_HAL::millis();
     if (now - byte_input.last_byte_ms > 3 ||
         byte_input.ofs == sizeof(byte_input.buf)) {

libraries/AP_RCProtocol/AP_RCProtocol_DSM.h

@@ -23,7 +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 process_byte(uint8_t byte, uint32_t baudrate) override;
     void start_bind(void) override;
     void update(void) override;
 

libraries/AP_RCProtocol/AP_RCProtocol_SBUS.cpp

@@ -280,3 +280,30 @@ void AP_RCProtocol_SBUS::process_pulse(uint32_t width_s0, uint32_t width_s1)
 reset:
     memset(&sbus_state, 0, sizeof(sbus_state));
 }
+
+// support byte input
+void AP_RCProtocol_SBUS::process_byte(uint8_t b, uint32_t baudrate)
+{
+    if (baudrate != 100000) {
+        return;
+    }
+    uint32_t now = AP_HAL::millis();
+    if (now - byte_input.last_byte_ms > 2 ||
+        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 == sizeof(byte_input.buf)) {
+        uint16_t values[SBUS_INPUT_CHANNELS];
+        uint16_t num_values=0;
+        bool sbus_failsafe = false;
+        bool sbus_frame_drop = false;
+        if (sbus_decode(byte_input.buf, values, &num_values,
+                        &sbus_failsafe, &sbus_frame_drop, SBUS_INPUT_CHANNELS) &&
+            num_values >= MIN_RCIN_CHANNELS) {
+            add_input(num_values, values, false);
+        }
+        byte_input.ofs = 0;
+    }
+}

libraries/AP_RCProtocol/AP_RCProtocol_SBUS.h

@@ -23,6 +23,7 @@ class AP_RCProtocol_SBUS : public AP_RCProtocol_Backend {
 public:
     AP_RCProtocol_SBUS(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, uint32_t baudrate) override;
 private:
     bool sbus_decode(const uint8_t frame[25], uint16_t *values, uint16_t *num_values,
                      bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_values);
@@ -30,4 +31,10 @@ private:
         uint16_t bytes[25]; // including start bit, parity and stop bits
         uint16_t bit_ofs;
     } sbus_state;
-};
+
+    struct {
+        uint8_t buf[25];
+        uint8_t ofs;
+        uint32_t last_byte_ms;
+    } byte_input;
+};

libraries/AP_RCProtocol/AP_RCProtocol_SRXL.cpp

@@ -90,7 +90,7 @@ void AP_RCProtocol_SRXL::process_pulse(uint32_t width_s0, uint32_t width_s1)
                 break;
             }
             byte = ((v>>1) & 0xFF);
-            process_byte(byte);
+            process_byte(byte, 115200);
         }
         memset(&srxl_state, 0, sizeof(srxl_state));
     }
@@ -249,7 +249,7 @@ int AP_RCProtocol_SRXL::srxl_channels_get_v5(uint16_t max_values, uint8_t *num_v
     return 0;
 }
 
-void AP_RCProtocol_SRXL::process_byte(uint8_t byte)
+void AP_RCProtocol_SRXL::process_byte(uint8_t byte, uint32_t baudrate)
 {
     uint64_t timestamp_us = AP_HAL::micros64();
     /*----------------------------------------distinguish different srxl variants at the beginning of each frame---------------------------------------------- */

libraries/AP_RCProtocol/AP_RCProtocol_SRXL.h

@@ -39,7 +39,7 @@ class AP_RCProtocol_SRXL : public AP_RCProtocol_Backend {
 public:
     AP_RCProtocol_SRXL(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 process_byte(uint8_t byte, uint32_t baudrate) override;
 private:
     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);

libraries/AP_RCProtocol/AP_RCProtocol_ST24.cpp

@@ -118,7 +118,7 @@ void AP_RCProtocol_ST24::process_pulse(uint32_t width_s0, uint32_t width_s1)
                 break;
             }
             byte = ((v>>1) & 0xFF);
-            process_byte(byte);
+            process_byte(byte, 115200);
         }
         memset(&st24_state, 0, sizeof(st24_state));
     }
@@ -138,9 +138,11 @@ reset:
     memset(&st24_state, 0, sizeof(st24_state));
 }
 
-void AP_RCProtocol_ST24::process_byte(uint8_t byte)
+void AP_RCProtocol_ST24::process_byte(uint8_t byte, uint32_t baudrate)
 {
-
+    if (baudrate != 115200) {
+        return;
+    }
 
     switch (_decode_state) {
     case ST24_DECODE_STATE_UNSYNCED:

libraries/AP_RCProtocol/AP_RCProtocol_ST24.h

@@ -39,7 +39,7 @@ class AP_RCProtocol_ST24 : public AP_RCProtocol_Backend {
 public:
     AP_RCProtocol_ST24(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 process_byte(uint8_t byte, uint32_t baudrate) override;
 private:
     static uint8_t st24_crc8(uint8_t *ptr, uint8_t len);
     enum ST24_PACKET_TYPE {

libraries/AP_RCProtocol/AP_RCProtocol_SUMD.cpp

@@ -125,7 +125,7 @@ void AP_RCProtocol_SUMD::process_pulse(uint32_t width_s0, uint32_t width_s1)
                 break;
             }
             byte = ((v>>1) & 0xFF);
-            process_byte(byte);
+            process_byte(byte, 115200);
         }
         memset(&sumd_state, 0, sizeof(sumd_state));
     }
@@ -145,8 +145,11 @@ reset:
     memset(&sumd_state, 0, sizeof(sumd_state));
 }
 
-void AP_RCProtocol_SUMD::process_byte(uint8_t byte)
+void AP_RCProtocol_SUMD::process_byte(uint8_t byte, uint32_t baudrate)
 {
+    if (baudrate != 115200) {
+        return;
+    }
     switch (_decode_state) {
     case SUMD_DECODE_STATE_UNSYNCED:
 #ifdef SUMD_DEBUG

libraries/AP_RCProtocol/AP_RCProtocol_SUMD.h

@@ -24,7 +24,7 @@ class AP_RCProtocol_SUMD : public AP_RCProtocol_Backend {
 public:
     AP_RCProtocol_SUMD(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 process_byte(uint8_t byte, uint32_t baudrate) override;
 private:
     static uint16_t sumd_crc16(uint16_t crc, uint8_t value);
     static uint8_t sumd_crc8(uint8_t crc, uint8_t value);