ardupilot/libraries/AP_RCProtocol/AP_RCProtocol_FPort.h

64 lines
1.9 KiB
C++

/*
* 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 <http://www.gnu.org/licenses/>.
*
* Code by Andrew Tridgell and Siddharth Bharat Purohit
*/
#pragma once
#include "AP_RCProtocol.h"
#include "SoftSerial.h"
#define FPORT_CONTROL_FRAME_SIZE 29
struct FPort_Frame;
class AP_RCProtocol_FPort : public AP_RCProtocol_Backend {
public:
AP_RCProtocol_FPort(AP_RCProtocol &_frontend, bool inverted);
void process_pulse(uint32_t width_s0, uint32_t width_s1) override;
void process_byte(uint8_t byte, uint32_t baudrate) override;
private:
void decode_control(const FPort_Frame &frame);
void decode_downlink(const FPort_Frame &frame);
bool check_checksum(void);
void _process_byte(uint32_t timestamp_us, uint8_t byte);
SoftSerial ss{115200, SoftSerial::SERIAL_CONFIG_8N1};
uint32_t saved_width;
struct {
uint8_t buf[FPORT_CONTROL_FRAME_SIZE];
uint8_t ofs;
uint32_t last_byte_us;
bool got_DLE;
} byte_input;
const bool inverted;
struct {
bool available = false;
uint32_t data;
uint16_t appid;
uint8_t frame;
} telem_data;
// receiver sends 0x10 when ready to receive telemetry frames (R-XSR)
bool rx_driven_frame_rate = false;
// if the receiver is not controlling frame rate apply a constraint on consecutive frames
uint8_t consecutive_telemetry_frame_count;
};