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AP_RCProtocol: tidy up frontend/backend split

This commit is contained in:
Andrew Tridgell 2018-01-19 08:40:07 +11:00
parent ff5e00da32
commit d6b9ab7756
5 changed files with 34 additions and 30 deletions
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13
libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp
View File

@ -16,6 +16,7 @@
*/
#include "AP_RCProtocol.h"
#include <AP_Math/AP_Math.h>
AP_RCProtocol_Backend::AP_RCProtocol_Backend(AP_RCProtocol &_frontend) :
frontend(_frontend),
@ -43,3 +44,15 @@ uint16_t AP_RCProtocol_Backend::read(uint8_t chan)
return _pwm_values[chan];
}
/*
provide input from a backend
*/
void AP_RCProtocol_Backend::add_input(uint8_t num_values, uint16_t *values, bool in_failsafe)
{
num_values = MIN(num_values, MAX_RCIN_CHANNELS);
memcpy(_pwm_values, values, num_values*sizeof(uint16_t));
_num_channels = num_values;
if (!in_failsafe) {
rc_input_count++;
}
}

6
libraries/AP_RCProtocol/AP_RCProtocol_Backend.h
View File

@ -29,11 +29,15 @@ public:
uint16_t read(uint8_t chan);
bool new_input();
uint8_t num_channels();
protected:
void add_input(uint8_t num_channels, uint16_t *values, bool in_failsafe);
private:
AP_RCProtocol &frontend;
unsigned int rc_input_count;
unsigned int last_rc_input_count;
uint16_t _pwm_values[MAX_RCIN_CHANNELS] = {0};
uint16_t _pwm_values[MAX_RCIN_CHANNELS];
uint8_t _num_channels;
};

21
libraries/AP_RCProtocol/AP_RCProtocol_DSM.cpp
View File

@ -14,12 +14,16 @@
*
* Code by Andrew Tridgell and Siddharth Bharat Purohit
*/
/*
with thanks to PX4 dsm.c for DSM decoding approach
*/
#include "AP_RCProtocol_DSM.h"
//#define DEBUG
// #define DEBUG
#ifdef DEBUG
# define debug(fmt, args...) printf(fmt "\n", ##args)
extern const AP_HAL::HAL& hal;
# define debug(fmt, args...) hal.console->printf(fmt "\n", ##args)
#else
# define debug(fmt, args...) do {} while(0)
#endif
@ -81,11 +85,7 @@ void AP_RCProtocol_DSM::process_pulse(uint32_t width_s0, uint32_t width_s1)
uint16_t num_values=0;
if (dsm_decode(AP_HAL::micros64(), bytes, values, &num_values, 8) &&
num_values >= MIN_RCIN_CHANNELS) {
for (i=0; i<num_values; i++) {
_pwm_values[i] = values[i];
}
_num_channels = num_values;
rc_input_count++;
add_input(num_values, values, false);
}
}
memset(&dsm_state, 0, sizeof(dsm_state));
@ -244,17 +244,18 @@ void AP_RCProtocol_DSM::dsm_guess_format(bool reset, const uint8_t dsm_frame[16]
bool AP_RCProtocol_DSM::dsm_decode(uint64_t frame_time, const uint8_t dsm_frame[16],
uint16_t *values, uint16_t *num_values, uint16_t max_values)
{
/*
#if 0
debug("DSM dsm_frame %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x",
dsm_frame[0], dsm_frame[1], dsm_frame[2], dsm_frame[3], dsm_frame[4], dsm_frame[5], dsm_frame[6], dsm_frame[7],
dsm_frame[8], dsm_frame[9], dsm_frame[10], dsm_frame[11], dsm_frame[12], dsm_frame[13], dsm_frame[14], dsm_frame[15]);
*/
#endif
/*
* If we have lost signal for at least a second, reset the
* format guessing heuristic.
*/
if (((frame_time - dsm_last_frame_time) > 1000000) && (dsm_channel_shift != 0))
if (((frame_time - dsm_last_frame_time) > 1000000) && (dsm_channel_shift != 0)) {
dsm_guess_format(true, dsm_frame);
}
/* we have received something we think is a dsm_frame */
dsm_last_frame_time = frame_time;

12
libraries/AP_RCProtocol/AP_RCProtocol_PPMSum.cpp
View File

@ -27,11 +27,7 @@ void AP_RCProtocol_PPMSum::process_pulse(uint32_t width_s0, uint32_t width_s1)
// a long pulse indicates the end of a frame. Reset the
// channel counter so next pulse is channel 0
if (ppm_state._channel_counter >= MIN_RCIN_CHANNELS) {
for (uint8_t i=0; i<ppm_state._channel_counter; i++) {
_pwm_values[i] = ppm_state._pulse_capt[i];
}
_num_channels = ppm_state._channel_counter;
rc_input_count++;
add_input(ppm_state._channel_counter, ppm_state._pulse_capt, false);
}
ppm_state._channel_counter = 0;
return;
@ -58,11 +54,7 @@ void AP_RCProtocol_PPMSum::process_pulse(uint32_t width_s0, uint32_t width_s1)
// if we have reached the maximum supported channels then
// mark as unsynchronised, so we wait for a wide pulse
if (ppm_state._channel_counter >= MAX_RCIN_CHANNELS) {
for (uint8_t i=0; i<ppm_state._channel_counter; i++) {
_pwm_values[i] = ppm_state._pulse_capt[i];
}
_num_channels = ppm_state._channel_counter;
rc_input_count++;
add_input(ppm_state._channel_counter, ppm_state._pulse_capt, false);
ppm_state._channel_counter = -1;
}
}

8
libraries/AP_RCProtocol/AP_RCProtocol_SBUS.cpp
View File

@ -267,13 +267,7 @@ void AP_RCProtocol_SBUS::process_pulse(uint32_t width_s0, uint32_t width_s1)
&sbus_failsafe, &sbus_frame_drop,
MAX_RCIN_CHANNELS) &&
num_values >= MIN_RCIN_CHANNELS) {
for (i=0; i<num_values; i++) {
_pwm_values[i] = values[i];
}
_num_channels = num_values;
if (!sbus_failsafe) {
rc_input_count++;
}
add_input(num_values, values, sbus_failsafe);
}
goto reset;
} else if (bits_s1 > 12) {