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AP_RCProtocol: added process_pulse_list() 

this provides more efficient processing of RC pulses
This commit is contained in:
Andrew Tridgell 2018-11-03 16:52:57 +11:00
parent 5dd0086698
commit faf8f73437
2 changed files with 24 additions and 0 deletions
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23
libraries/AP_RCProtocol/AP_RCProtocol.cpp
View File

@ -77,6 +77,29 @@ void AP_RCProtocol::process_pulse(uint32_t width_s0, uint32_t width_s1)
}
}
/*
process an array of pulses. n must be even
*/
void AP_RCProtocol::process_pulse_list(const uint32_t *widths, uint16_t n, bool need_swap)
{
if (n & 1) {
return;
}
while (n) {
uint32_t widths0 = widths[0];
uint32_t widths1 = widths[1];
if (need_swap) {
uint32_t tmp = widths1;
widths1 = widths0;
widths0 = tmp;
}
widths1 -= widths0;
process_pulse(widths0, widths1);
widths += 2;
n -= 2;
}
}
void AP_RCProtocol::process_byte(uint8_t byte, uint32_t baudrate)
{
if (_detected_protocol != AP_RCProtocol::NONE && !_detected_with_bytes) {

1
libraries/AP_RCProtocol/AP_RCProtocol.h
View File

@ -44,6 +44,7 @@ public:
return _valid_serial_prot;
}
void process_pulse(uint32_t width_s0, uint32_t width_s1);
void process_pulse_list(const uint32_t *widths, uint16_t n, bool need_swap);
void process_byte(uint8_t byte, uint32_t baudrate);
void disable_for_pulses(enum rcprotocol_t protocol) {