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AP_RCProtocol: support a mask of enabled RC protocols

This commit is contained in:
Andrew Tridgell 2020-08-13 12:27:43 +10:00
parent a190490b64
commit e0ec46f06d
2 changed files with 50 additions and 0 deletions
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37
libraries/AP_RCProtocol/AP_RCProtocol.cpp
View File

@ -30,6 +30,7 @@
#include "AP_RCProtocol_ST24.h"
#include "AP_RCProtocol_FPort.h"
#include <AP_Math/AP_Math.h>
#include <RC_Channel/RC_Channel.h>
extern const AP_HAL::HAL& hal;
@ -64,6 +65,16 @@ void AP_RCProtocol::process_pulse(uint32_t width_s0, uint32_t width_s1)
{
uint32_t now = AP_HAL::millis();
bool searching = (now - _last_input_ms >= 200);
#ifndef IOMCU_FW
rc_protocols_mask = rc().enabled_protocols();
#endif
if (_detected_protocol != AP_RCProtocol::NONE &&
!protocol_enabled(_detected_protocol)) {
_detected_protocol = AP_RCProtocol::NONE;
}
if (_detected_protocol != AP_RCProtocol::NONE && _detected_with_bytes && !searching) {
// we're using byte inputs, discard pulses
return;
@ -85,6 +96,9 @@ void AP_RCProtocol::process_pulse(uint32_t width_s0, uint32_t width_s1)
continue;
}
if (backend[i] != nullptr) {
if (!protocol_enabled(rcprotocol_t(i))) {
continue;
}
uint32_t frame_count = backend[i]->get_rc_frame_count();
uint32_t input_count = backend[i]->get_rc_input_count();
backend[i]->process_pulse(width_s0, width_s1);
@ -131,6 +145,16 @@ bool AP_RCProtocol::process_byte(uint8_t byte, uint32_t baudrate)
{
uint32_t now = AP_HAL::millis();
bool searching = (now - _last_input_ms >= 200);
#ifndef IOMCU_FW
rc_protocols_mask = rc().enabled_protocols();
#endif
if (_detected_protocol != AP_RCProtocol::NONE &&
!protocol_enabled(_detected_protocol)) {
_detected_protocol = AP_RCProtocol::NONE;
}
if (_detected_protocol != AP_RCProtocol::NONE && !_detected_with_bytes && !searching) {
// we're using pulse inputs, discard bytes
return false;
@ -148,6 +172,9 @@ bool AP_RCProtocol::process_byte(uint8_t byte, uint32_t baudrate)
// otherwise scan all protocols
for (uint8_t i = 0; i < AP_RCProtocol::NONE; i++) {
if (backend[i] != nullptr) {
if (!protocol_enabled(rcprotocol_t(i))) {
continue;
}
uint32_t frame_count = backend[i]->get_rc_frame_count();
uint32_t input_count = backend[i]->get_rc_input_count();
backend[i]->process_byte(byte, baudrate);
@ -358,6 +385,16 @@ void AP_RCProtocol::add_uart(AP_HAL::UARTDriver* uart)
added.baudrate = 115200U;
}
// return true if a specific protocol is enabled
bool AP_RCProtocol::protocol_enabled(rcprotocol_t protocol) const
{
if ((rc_protocols_mask & 1) != 0) {
// all protocols enabled
return true;
}
return ((1U<<(uint8_t(protocol)+1)) & rc_protocols_mask) != 0;
}
namespace AP {
AP_RCProtocol &RC()
{

13
libraries/AP_RCProtocol/AP_RCProtocol.h
View File

@ -83,9 +83,19 @@ public:
// add a UART for RCIN
void add_uart(AP_HAL::UARTDriver* uart);
#ifdef IOMCU_FW
// set allowed RC protocols
void set_rc_protocols(uint32_t mask) {
rc_protocols_mask = mask;
}
#endif
private:
void check_added_uart(void);
// return true if a specific protocol is enabled
bool protocol_enabled(enum rcprotocol_t protocol) const;
enum rcprotocol_t _detected_protocol = NONE;
uint16_t _disabled_for_pulses;
bool _detected_with_bytes;
@ -110,6 +120,9 @@ private:
uint32_t last_baud_change_ms;
enum config_phase phase;
} added;
// allowed RC protocols mask (first bit means "all")
uint32_t rc_protocols_mask;
};
namespace AP {