/* * This file is free software: you can redistribute it and/or modify it * under the terms of the GNU General Public License as published by the * Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * * This file is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. * See the GNU General Public License for more details. * * You should have received a copy of the GNU General Public License along * with this program. If not, see . * * Code by Andrew Tridgell and Siddharth Bharat Purohit */ #include "AP_RCProtocol.h" #include "AP_RCProtocol_PPMSum.h" #include "AP_RCProtocol_DSM.h" #include "AP_RCProtocol_IBUS.h" #include "AP_RCProtocol_SBUS.h" #include "AP_RCProtocol_SUMD.h" #include "AP_RCProtocol_SRXL.h" #include "AP_RCProtocol_ST24.h" // singleton AP_RCProtocol *AP_RCProtocol::_singleton; void AP_RCProtocol::init() { backend[AP_RCProtocol::PPM] = new AP_RCProtocol_PPMSum(*this); backend[AP_RCProtocol::IBUS] = new AP_RCProtocol_IBUS(*this); backend[AP_RCProtocol::SBUS] = new AP_RCProtocol_SBUS(*this, true); backend[AP_RCProtocol::SBUS_NI] = new AP_RCProtocol_SBUS(*this, false); backend[AP_RCProtocol::DSM] = new AP_RCProtocol_DSM(*this); backend[AP_RCProtocol::SUMD] = new AP_RCProtocol_SUMD(*this); backend[AP_RCProtocol::SRXL] = new AP_RCProtocol_SRXL(*this); backend[AP_RCProtocol::ST24] = new AP_RCProtocol_ST24(*this); } AP_RCProtocol::~AP_RCProtocol() { for (uint8_t i = 0; i < AP_RCProtocol::NONE; i++) { if (backend[i] != nullptr) { delete backend[i]; backend[i] = nullptr; } } _singleton = nullptr; } 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); if (_detected_protocol != AP_RCProtocol::NONE && _detected_with_bytes && !searching) { // we're using byte inputs, discard pulses return; } // first try current protocol if (_detected_protocol != AP_RCProtocol::NONE && !searching) { backend[_detected_protocol]->process_pulse(width_s0, width_s1); if (backend[_detected_protocol]->new_input()) { _new_input = true; _last_input_ms = now; } return; } // otherwise scan all protocols for (uint8_t i = 0; i < AP_RCProtocol::NONE; i++) { if (_disabled_for_pulses & (1U << i)) { // this protocol is disabled for pulse input continue; } if (backend[i] != nullptr) { 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); if (frame_count != backend[i]->get_rc_frame_count()) { _good_frames[i]++; if (requires_3_frames((rcprotocol_t)i) && _good_frames[i] < 3) { continue; } _new_input = (input_count != backend[i]->get_rc_input_count()); _detected_protocol = (enum AP_RCProtocol::rcprotocol_t)i; memset(_good_frames, 0, sizeof(_good_frames)); _last_input_ms = now; _detected_with_bytes = false; break; } } } } /* 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) { uint32_t now = AP_HAL::millis(); bool searching = (now - _last_input_ms >= 200); if (_detected_protocol != AP_RCProtocol::NONE && !_detected_with_bytes && !searching) { // we're using pulse inputs, discard bytes return; } // first try current protocol if (_detected_protocol != AP_RCProtocol::NONE && !searching) { backend[_detected_protocol]->process_byte(byte, baudrate); if (backend[_detected_protocol]->new_input()) { _new_input = true; _last_input_ms = now; } return; } // otherwise scan all protocols for (uint8_t i = 0; i < AP_RCProtocol::NONE; i++) { if (backend[i] != nullptr) { 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); if (frame_count != backend[i]->get_rc_frame_count()) { _good_frames[i]++; if (requires_3_frames((rcprotocol_t)i) && _good_frames[i] < 3) { continue; } _new_input = (input_count != backend[i]->get_rc_input_count()); _detected_protocol = (enum AP_RCProtocol::rcprotocol_t)i; memset(_good_frames, 0, sizeof(_good_frames)); _last_input_ms = now; _detected_with_bytes = true; break; } } } } bool AP_RCProtocol::new_input() { bool ret = _new_input; _new_input = false; // run update function on backends for (uint8_t i = 0; i < AP_RCProtocol::NONE; i++) { if (backend[i] != nullptr) { backend[i]->update(); } } return ret; } uint8_t AP_RCProtocol::num_channels() { if (_detected_protocol != AP_RCProtocol::NONE) { return backend[_detected_protocol]->num_channels(); } return 0; } uint16_t AP_RCProtocol::read(uint8_t chan) { if (_detected_protocol != AP_RCProtocol::NONE) { return backend[_detected_protocol]->read(chan); } return 0; } /* ask for bind start on supported receivers (eg spektrum satellite) */ void AP_RCProtocol::start_bind(void) { for (uint8_t i = 0; i < AP_RCProtocol::NONE; i++) { if (backend[i] != nullptr) { backend[i]->start_bind(); } } } /* return protocol name */ const char *AP_RCProtocol::protocol_name_from_protocol(rcprotocol_t protocol) { switch (protocol) { case PPM: return "PPM"; case IBUS: return "IBUS"; case SBUS: case SBUS_NI: return "SBUS"; case DSM: return "DSM"; case SUMD: return "SUMD"; case SRXL: return "SRXL"; case ST24: return "ST24"; case NONE: break; } return nullptr; } /* return protocol name */ const char *AP_RCProtocol::protocol_name(void) const { return protocol_name_from_protocol(_detected_protocol); }