Peter Barker
d59c9cc633
AP_RCProtocol: add separate define for AP_RCPROTOCOL_SUMD_ENABLED
2023-05-17 18:27:19 +10:00
Peter Barker
c9b39c6d32
AP_RCProtocol: add separate define for AP_RCPROTOCOL_IBUS_ENABLED
2023-05-17 18:27:19 +10:00
Peter Barker
1b040fa0c3
AP_RCProtocol: add separate define for AP_RCPROTOCOL_PPMSUM_ENABLED
2023-05-17 18:27:19 +10:00
Peter Barker
1225d4c88f
AP_RCProtocol: add separate define for AP_RCPROTOCOL_ST24_ENABLED
2023-05-17 18:27:19 +10:00
Peter Barker
2c00813aab
AP_RCProtocol: add and use AP_RCPROTOCOL_ENABLED
2023-05-16 09:16:37 +10:00
Peter Barker
73b0ce6db8
AP_RCProtocol: define accepted RC backends for IOMCU in its hwdef files
2023-05-03 19:06:33 +10:00
Peter Barker
18e55b9d6e
AP_RCProtocol: add and use AP_RCPROTOCOL_SBUS_ENABLED
2023-05-02 10:19:50 +10:00
Peter Barker
6535bfa546
AP_RCProtocol: add and use AP_RCPROTOCOL_CRSF_ENABLED
2023-04-27 18:31:30 +10:00
Peter Barker
dd549ee625
AP_RCProtocol: use defaults to turn off CRSF telem on IO firmware
2023-04-27 18:31:30 +10:00
Peter Barker
e89ccf1fa7
AP_RCProtocol: remove intermediate srxl2 callback-chain functions
2023-04-27 08:21:32 +10:00
Peter Barker
b3b46f7be6
AP_RCProtocol: add add use AP_RCPROTOCOL_SRXL2_ENABLED
2023-04-26 22:54:33 +10:00
Peter Barker
75a0c592ab
AP_RCProtocol: move code from SRXL2.cpp into Backend.cpp
...
NFC, just moving from one cpp to another
2023-04-21 09:15:01 +10:00
Peter Barker
ff441de8ec
AP_RCProtocol: move configure_vtx method to AP_RCProtocol_Backend
...
this is called as a static method from DSM to SRXL2 which isn't good.
2023-04-21 09:15:01 +10:00
Peter Barker
b26cd59da6
AP_RCProtocol: add and use RC_Channel_config.h
2023-03-22 14:25:09 +11:00
Peter Barker
8db14c2bbf
AP_RCProtocol: tidy enablement RC FastSBUS support
...
use the the hwdef to turn it off on IOMCU
2023-03-21 12:08:06 +11:00
Peter Barker
35e3dcd83b
AP_RCProtocol: HAL_LOGGING_ENABLED in place of checking build types
...
We don't care how logging works, just that it does
2023-03-21 08:31:27 +11:00
Peter Barker
440db27807
AP_RCProtocol: correct use of MAX_CHANNELS in SRXL2
...
This is a little all over the place. Safe, but ARRAY_SIZE ensures correctness, and we save memory...
2023-03-15 13:33:45 -07:00
Peter Barker
d5bca05fb6
AP_RCProtocol: SRXL2 uses own define for max-channels
...
Different protocol, different count.
2023-03-15 13:33:45 -07:00
Peter Barker
9d099fbcd5
AP_RCProtocol: add option to not include SRXL in build
2023-03-15 22:45:23 +11:00
Andrew Tridgell
988028f765
AP_RCProtocol: on IOMCU don't allow protocol to change once detected
...
this prevents a crash where in-flight noise causes an incorrect
protocol detection, such as DSM for a SBUS input
2023-02-08 10:08:23 +11:00
Peter Barker
2a263972b2
AP_RCProtocol: iterate over array size rather than to last entry
...
This can move us towards not instantiating backends (having an _num_backends) at some stage.
More typical of what we do throughout the code, and makes the derefernces on the subsequent lines a lot more comfortable to casual browsing.
2023-01-25 09:14:16 +11:00
Peter Barker
c139f7c730
AP_RCProtocol: add and use AP_VIDEOTX_ENABLED
2023-01-24 11:03:27 +11:00
Andy Piper
425f2b946e
AP_RCProtocol: check for 3 good frames for CRSF
...
Move get_link_rate() and get_protocol_string() to CRSF protocol
allow ELRS at 420kbaud to be configured
allow CRSF to bootstrap at ELRS desired baudrate
2022-12-22 18:38:31 +00:00
Peter Barker
64193542ed
AP_RCProtocol: allow FRSky to be compiled out
2022-11-15 18:44:45 +11:00
Andy Piper
c815f04e97
AP_RCProtocol: add has_uart()
2022-10-18 11:20:25 +11:00
Peter Barker
402d9708a5
AP_RCProtocol: fix examples
2022-08-19 18:33:58 +10:00
Andy Piper
9b8ea8475d
AP_RCProtocol: reset UART on RX failure for CRSF
...
update CRSF timestamps to use microseconds
implement RX liveness protocol and implement for CRSF
2022-06-15 17:20:36 +10:00
Andy Piper
fe29324828
AP_RCProtocol: check for bad frames in CRSF decoding.
2022-06-08 17:35:03 +10:00
Andy Piper
89ea5dc12c
AP_RCProtocol: flush CRSF telemety writes
2022-04-20 17:38:08 +10:00
Andrew Tridgell
5df38d0298
AP_RCProtocol: added using_uart() method
2022-03-28 17:09:26 +11:00
Andrew Tridgell
522173328c
AP_RCProtocol: added failsafe_active() API
2022-03-22 10:30:35 +11:00
Andrew Tridgell
7716754c61
Revert "AP_RCProtocol: change default SBUS frame gap to 4ms"
...
This reverts commit af9e96c619
.
revert as this causes a problem on some receivers such as the Frsky R9
fixes #19899
2022-02-11 08:10:25 +11:00
Andrew Tridgell
af9e96c619
AP_RCProtocol: change default SBUS frame gap to 4ms
...
this is to cope with some newer receivers such as the skydroid H16
which produces SBUS frames with gaps over 2ms
without this change we get can RC failsafes constantly
2022-01-29 15:09:29 +11:00
yaapu
55bfa41d13
AP_RC_Protocol: added ExpressLRS support
2021-12-22 18:48:49 +11:00
yaapu
76bd10bf02
AP_RCProtocol: added custom telemetry frame types and subtypes to debug trace
2021-12-22 18:48:49 +11:00
Andrew Tridgell
47590a55ff
AP_RCProtocol: allow changes of serial settings between protocols
...
if we are searching for new protocols then allow for baudrate table
changes
2021-12-21 11:07:44 +11:00
Jaaaky
91e3441c6d
AP_RCProtocol: Fix multi #include's
2021-12-21 10:38:46 +11:00
Hwurzburg
eaa557106a
AP_RCProtocol: add RC option to report CRSF LQ as RSSI
...
Co-author: Jules Gilson <julesgilson@yahoo.co.uk>
2021-12-21 10:04:33 +11:00
Andy Piper
5224468ec6
AP_RCProtocol: process CRSF crc per-byte
2021-12-01 19:04:19 +11:00
Peter Barker
409147a291
AP_RCProtocol: add support for DJI Fast SBUS
...
It's just SBUS... but with increased opportunities for corruption
2021-11-18 17:19:04 +11:00
Peter Barker
411ed0f50e
AP_RCProtocol: use data structure for serial configurations
2021-11-16 22:06:24 +11:00
Peter Barker
c1cdfb448c
AP_RCProtocol: move uart flow control set out of CRSF code
...
11:32 AM] AndrewTridgell: @Peter Barker we should disable flow control when we first add the uart - none of the RC protocols use flow control
[11:32 AM] AndrewTridgell: the blocking writes call isn't needed
[11:32 AM] Peter Barker: Thanks, I'll make a patch.
2021-11-16 22:06:24 +11:00
Peter Barker
5e18f98b8e
AP_RCProtocol: number all of the RC Protocols supported
...
Needed this as soon as we got the RC_PROTOCOL bitmask
2021-11-12 09:00:45 +11:00
Peter Barker
7c774d02bb
AP_RCProtocol: remove pointless 100kbaud speed change
...
added.opened is set to false. Next time we check_added_uart, the baud
rate is unconditionally set in each of the phases. Thus this line has
no effect except to confuse the reader
2021-11-10 07:04:47 +11:00
Peter Barker
63f87a863c
AP_RCProtocol: use switch statement for 3-frame check
...
Forces new protocol implementer to consider whether a 3-frame check is
required
2021-11-09 09:06:45 +11:00
Andrew Tridgell
67fd862a8c
AP_RCProtocol: check for RC protocol switching enable
...
by default don't allow protocol switching after initial protocol is
found
2021-10-15 19:29:23 -04:00
Andrew Tridgell
d8c0d82857
AP_RCProtocol: allow DSM bind using uart RX pin directly
2021-10-12 15:47:51 +11:00
Andy Piper
8035b92e6e
AP_RCProtocol: increase CRSF frame timeout to account for scheduling delays
2021-08-31 08:18:32 +10:00
Andrew Tridgell
0bdbdcec21
AP_RCProtocol: mark logger Write() calls as streaming where appropriate
2021-08-18 10:20:03 +10:00
Andrew Tridgell
36dcc0d16d
AP_RCProtocol: make SBUS frame gap configurable
2021-08-10 10:08:05 +10:00
Andy Piper
293bb7704e
AP_RCProtocol: implementation of CRSF v3
...
add CRSF command frame types
allow CRSF baud rate changes
record CRSF version being processed
2021-08-04 17:26:18 +10:00
Hwurzburg
c5f53fc0b6
AP_RCProtocol: add Link Quality reporting to RC protocols
2021-07-16 13:27:38 +10:00
Andy Piper
dd310fd12f
AP_RCProtocol: move AP_VideoTX to AP_VideoTX
2021-02-23 11:43:32 +11:00
Patrick José Pereira
8f96580e9d
AP_RCProtocol: Add missing const in member functions
...
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
2021-02-03 18:45:14 +11:00
Andy Piper
881fd4f37c
AP_HAL_ChibiOS: use buffered writes for CRSF telemetry
2021-02-03 18:28:28 +11:00
Andy Piper
f6a2d20579
AP_RCProtocol: add tracer 250Hz mode
2021-01-20 18:06:24 +11:00
yaapu
5ef20aec27
AP_RCProtocol: added support for passthrough telemetry over crossfire
2021-01-20 18:06:24 +11:00
Andy Piper
27d7c73c8e
AP_RCProtocol: rc_protocols_mask must be set before bootstrap occurs
2021-01-04 20:04:19 +11:00
Andrew Tridgell
9fcf36bad9
AP_RCProtocol: save memory in IO firmware
...
disable FPort2 to save memory.
Disable SBUS_NI as it is not needed on IOMCU as it has a dedicated
inverter
2020-12-28 08:27:23 +11:00
Andy Piper
e6d0e38129
AP_RCProtocol: allow handshake to initiate RC connection. Support listen-only SRXL2 devices.
...
only bootstrap when SRXL2 is the only configured protocol (RC_PROTOCOLS=256)
remove spurious 0 initializers
2020-12-16 18:06:49 +11:00
yaapu
c530df7e31
AP_RCProtocol: added fport2 24ch test
2020-12-01 15:05:02 +11:00
yaapu
7e9458b53a
AP_RCProtocol: fport2 fixes
...
Fixed 16ch fport2 telemetry and enabled bidir support.
Fixed 24ch fport2, had to disable telemetry on 24ch for timing is too tight and telemetry would be unreliable.
2020-12-01 15:05:02 +11:00
Andy Piper
7f3f135dc5
AP_RCProtocol: add debug for further CRSF messages
...
add better frame debug info to CRSF
2020-11-11 18:13:11 +11:00
Andrew Tridgell
2dd58c8ed1
AP_RCProtocol: send null pkts for FPort2
...
when we have no data to send, we should send an empty packet to ensure
the receiver schedules us for data as often as possible
2020-10-28 19:51:45 +11:00
Andrew Tridgell
20c4f1950b
AP_RCProtocol: added FPort protocol test
2020-10-28 09:00:34 +11:00
Andrew Tridgell
df5105e20b
AP_RCProtocol: added FPort2 protocol test
2020-10-28 09:00:34 +11:00
Andrew Tridgell
a8770a5a82
AP_RCProtocol: added FPort2 protocol support
2020-10-28 09:00:34 +11:00
yaapu
4dec72a230
AP_RCProtocol: added support for frsky fport bidirectional telemetry
2020-10-27 10:17:53 +11:00
yaapu
f33d197b16
AP_RCProtocol: fix fport rssi
2020-09-29 09:04:38 +10:00
Andy Piper
1f3c24d436
AP_RCProtocol: put back DSM VTX control and logging, add tests
2020-09-02 17:10:59 +10:00
Andrew Tridgell
2bac4b1d97
AP_RCProtocol: fixed up DSM decoder test suite
...
reverted values from new decoder and added another example
2020-08-24 16:32:35 +10:00
Andrew Tridgell
78c4e27259
AP_RCProtocol: reverted DSM protocol decoder
...
the new decoder done by Andy is much nicer looking code, but fails to
correctly parse several valid DSM setups, and parses both SBUS and
FPort as DSM, breaking setups that were previously working
2020-08-24 16:32:35 +10:00
Andrew Tridgell
6e1aeb905f
AP_RCProtocol: added another DSM satellite protocol
2020-08-24 16:32:35 +10:00
Andrew Tridgell
1560c33418
AP_RCProtocol: fixed support for spektrum satellite receivers
...
this was broken by the recent DSM protocol decoder change
2020-08-24 16:32:35 +10:00
Andrew Tridgell
2779b26e6e
AP_RCProtocol: fixed the "3 good frames" test
...
require 3 consecutive good frames, not 3 frames total, to declare the
weak protocols as detected
2020-08-24 16:32:35 +10:00
Andrew Tridgell
380e9d3075
AP_RCProtocol: greatly increase robustness of DSM decoding
...
this prevents other protocols being decoded as DSM
2020-08-24 16:32:35 +10:00
Andrew Tridgell
e0ec46f06d
AP_RCProtocol: support a mask of enabled RC protocols
2020-08-24 16:32:35 +10:00
Andy Piper
ce970dcf75
AP_RCProtocol: process CRSF link statistics frames to get RSSI
2020-08-06 18:24:46 +10:00
Peter Barker
8f77536c08
AP_RCProtocol: fix segfault in example due to lack of VideoTX singleton
2020-07-31 07:55:09 +10:00
Andy Piper
b697a44aed
AP_RCProtocol: configure VTX when a SRXL2 VTX packet is received
...
support DSM VTX control
2020-07-14 16:50:08 +10:00
Andy Piper
80e1c0ebb0
AP_RCProtocol: decode DSM frame markers to avoid timing related jitters especially in SITL
...
complete re-write of DSM decoding
2020-07-13 19:36:49 +10:00
Andy Piper
4e88adf86e
AP_RCProtocol: TBS CRSF implementation
...
refactor rc channels decoding into backend
refactor SBUS to use decode_11bit_channels()
only support big-endian
don't include CRSF in iomcu
2020-07-07 18:48:06 +10:00
Andrew Tridgell
21937a7830
AP_RCProtocol: fixed alignment errors in SRXL2
...
invalid alignment used
2020-07-07 10:23:00 +10:00
Andy Piper
6162605388
AP_RCProtocol: ignore SRXL2 dbm rssi value like BF does
2020-07-07 09:03:40 +10:00
Andy Piper
acff7daba5
AP_RCProtocol: scale SRXL2 using published conversion values. switch SRXL2 channels to match ArduPilot
2020-05-24 07:45:01 +10:00
Andy Piper
167e1d12d7
AP_RCProtocol: disable flow-control and buffered-writes for SRXL2 uart
...
switched spm_srxl.c to C++ compilation
Correctly set budget for half-duplex writes
Tidy PACKED and other externalities
disable SRXL2 on IOMCU and softserial - SRXL2 is a serial half-duplex protocol-only
fixed buffer overrun in SRXL2 parser
fix bugs in decoder sketch and allow output to SITL
2020-05-05 09:23:15 +10:00
Andy Piper
e3a88f686d
AP_RCTelemetry: Spektrum telemetry library and telemetry abstraction
...
add support for temperature, battery voltage, battery current, flight pack
altitiude, airspeed, attitude and compass, GPS, ESC telemetry based on BLHeli
status messages and QOS packets.
refactor into AP_Telemetry
conditionally compile based on HAL_MINIMIZE_FEATURES
don't initialize spektrum telemetry if there is no RC uart
2020-05-05 09:23:15 +10:00
Andy Piper
68c6a3b03d
AP_RCProtocol: SRXL2 support
2020-05-05 09:23:15 +10:00
Andrew Tridgell
7e835d1037
AP_RCProtocol: fixed buffer overflow in st24 parser
...
found using random data injection in SITL
2020-04-21 06:02:29 +10:00
Peter Barker
061c3ecb7f
AP_RCProtocol: add documentation for RCDA message
2020-04-14 07:34:59 +10:00
Andrew Tridgell
087da57858
AP_RCProtocol: added logging of RC prototol input bytes
2020-03-24 09:10:36 +09:00
Andrew Tridgell
6b35497129
AP_RCProtocol: moved fport variables into class
...
reduced pollution of global namespace
2020-03-20 12:37:52 +11:00
Andrew Tridgell
a1069d85cb
AP_RCProtocol: fixed bug in FPort parser
...
if we got invalid frame->type values we would overrun the buffer and
cause memory corruption. This was the cause of the bug Polarijet found
2020-03-20 12:37:52 +11:00
yaapu
b4bdc76a53
AP_RCProtocol: handle 0x10 and 0x00 frames, check scheduler delay and fix incoming crc
...
Respond to 0x10 when the rx is controlling bandwidth, else respond only to 0x00
but in this case never exceed a max number of consecutive frames.
Always respond to polling and if necessary send a null frame.
moved delay check after get_telem_data() to account for scheduler time
align incoming to outgoing crc
2020-02-21 09:29:15 +11:00
Andrew Tridgell
8e67c3459a
AP_RCProtocol: added multi-channel read() API
...
and use pulse_input_enable() to disable pulse input when not needed
2020-01-31 11:09:07 +11:00
yaapu
88f0d54574
AP_RCProtocol: fport downlink packet: fixed CRC and added missing PACKED attribute
2020-01-22 06:58:29 +11:00
Peter Barker
4d6f6c09fb
AP_RCProtocol: add missing break statement
2020-01-15 13:55:42 +11:00
Andrew Tridgell
74ca9033e2
AP_RCProtocol: fixed support for 22ms multi-frame DSM
2020-01-09 17:38:52 +11:00
Andrew Tridgell
39b738e407
AP_RCProtocol: expand test suite for multi-frame protocols
2020-01-09 17:38:52 +11:00
Andrew Tridgell
5588229f68
AP_RCProtocol: fixed scaling on FPort RSSI
...
make it match OpenTX
2020-01-09 07:08:11 +11:00