mirror of https://github.com/ArduPilot/ardupilot
120 lines
3.1 KiB
C++
120 lines
3.1 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Code by Andrew Tridgell and Siddharth Bharat Purohit
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Common/AP_Common.h>
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#define MAX_RCIN_CHANNELS 18
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#define MIN_RCIN_CHANNELS 5
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class AP_RCProtocol_Backend;
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class AP_RCProtocol {
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public:
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AP_RCProtocol() {}
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~AP_RCProtocol();
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friend class AP_RCProtocol_Backend;
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enum rcprotocol_t {
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PPM = 0,
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IBUS,
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SBUS,
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SBUS_NI,
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DSM,
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SUMD,
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SRXL,
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SRXL2,
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CRSF,
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ST24,
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FPORT,
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NONE //last enum always is None
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};
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void init();
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bool valid_serial_prot()
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{
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return _valid_serial_prot;
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}
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void process_pulse(uint32_t width_s0, uint32_t width_s1);
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void process_pulse_list(const uint32_t *widths, uint16_t n, bool need_swap);
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bool process_byte(uint8_t byte, uint32_t baudrate);
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void update(void);
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void disable_for_pulses(enum rcprotocol_t protocol) {
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_disabled_for_pulses |= (1U<<(uint8_t)protocol);
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}
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// for protocols without strong CRCs we require 3 good frames to lock on
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bool requires_3_frames(enum rcprotocol_t p) {
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return (p == DSM || p == SBUS || p == SBUS_NI || p == PPM || p == FPORT);
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}
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uint8_t num_channels();
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uint16_t read(uint8_t chan);
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void read(uint16_t *pwm, uint8_t n);
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bool new_input();
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void start_bind(void);
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int16_t get_RSSI(void) const;
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// return protocol name as a string
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static const char *protocol_name_from_protocol(rcprotocol_t protocol);
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// return protocol name as a string
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const char *protocol_name(void) const;
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// return detected protocol
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enum rcprotocol_t protocol_detected(void) const {
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return _detected_protocol;
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}
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// add a UART for RCIN
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void add_uart(AP_HAL::UARTDriver* uart);
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private:
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void check_added_uart(void);
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enum rcprotocol_t _detected_protocol = NONE;
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uint16_t _disabled_for_pulses;
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bool _detected_with_bytes;
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AP_RCProtocol_Backend *backend[NONE];
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bool _new_input;
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uint32_t _last_input_ms;
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bool _valid_serial_prot;
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uint8_t _good_frames[NONE];
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enum config_phase {
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CONFIG_115200_8N1 = 0,
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CONFIG_115200_8N1I = 1,
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CONFIG_100000_8E2I = 2,
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CONFIG_420000_8N1 = 3,
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};
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// optional additional uart
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struct {
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AP_HAL::UARTDriver *uart;
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uint32_t baudrate;
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bool opened;
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uint32_t last_baud_change_ms;
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enum config_phase phase;
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} added;
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};
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namespace AP {
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AP_RCProtocol &RC();
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};
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#include "AP_RCProtocol_Backend.h"
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