mirror of https://github.com/ArduPilot/ardupilot
80 lines
2.5 KiB
C++
80 lines
2.5 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_RCProtocol.h"
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#include "SoftSerial.h"
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#define AP_DSM_MAX_CHANNELS 12
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class AP_RCProtocol_DSM : public AP_RCProtocol_Backend {
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public:
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AP_RCProtocol_DSM(AP_RCProtocol &_frontend) : AP_RCProtocol_Backend(_frontend) {}
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void process_pulse(uint32_t width_s0, uint32_t width_s1) override;
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void process_byte(uint8_t byte, uint32_t baudrate) override;
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void start_bind(void) override;
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void update(void) override;
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private:
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void _process_byte(uint32_t timestamp_ms, uint8_t byte);
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void dsm_decode();
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bool dsm_decode_channel(uint16_t raw, unsigned shift, unsigned *channel, unsigned *value);
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void dsm_guess_format(bool reset, const uint8_t dsm_frame[16], unsigned frame_channels);
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bool dsm_parse_byte(uint32_t frame_time_ms, uint8_t b, uint16_t *values,
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uint16_t *num_values, uint16_t max_channels);
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bool dsm_decode(uint32_t frame_time_ms, const uint8_t dsm_frame[16],
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uint16_t *values, uint16_t *num_values, uint16_t max_values);
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/**< Channel resolution, 0=unknown, 10=10 bit, 11=11 bit */
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uint8_t channel_shift;
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// format guessing state
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uint32_t cs10;
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uint32_t cs11;
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uint32_t samples;
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// bind state machine
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enum {
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BIND_STATE_NONE,
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BIND_STATE1,
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BIND_STATE2,
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BIND_STATE3,
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BIND_STATE4,
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} bind_state;
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uint32_t bind_last_ms;
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uint32_t bind_mode_saved;
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uint16_t last_values[AP_DSM_MAX_CHANNELS];
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struct {
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uint8_t buf[16];
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uint8_t ofs;
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} byte_input;
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enum DSM_DECODE_STATE {
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DSM_DECODE_STATE_DESYNC = 0,
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DSM_DECODE_STATE_SYNC
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} dsm_decode_state;
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uint32_t last_frame_time_ms;
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uint32_t last_rx_time_ms;
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uint16_t chan_count;
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SoftSerial ss{115200, SoftSerial::SERIAL_CONFIG_8N1};
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};
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