mirror of https://github.com/ArduPilot/ardupilot
270 lines
6.6 KiB
C++
270 lines
6.6 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_config.h"
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_Common/AP_Common.h>
|
|
#if AP_RCPROTOCOL_MAVLINK_RADIO_ENABLED
|
|
#include <GCS_MAVLink/GCS_MAVLink.h>
|
|
#endif
|
|
|
|
#define MAX_RCIN_CHANNELS 18
|
|
#define MIN_RCIN_CHANNELS 5
|
|
|
|
class AP_RCProtocol_Backend;
|
|
|
|
class AP_RCProtocol {
|
|
public:
|
|
|
|
enum rcprotocol_t {
|
|
#if AP_RCPROTOCOL_PPMSUM_ENABLED
|
|
PPMSUM = 0,
|
|
#endif
|
|
#if AP_RCPROTOCOL_IBUS_ENABLED
|
|
IBUS = 1,
|
|
#endif
|
|
#if AP_RCPROTOCOL_SBUS_ENABLED
|
|
SBUS = 2,
|
|
#endif
|
|
#if AP_RCPROTOCOL_SBUS_NI_ENABLED
|
|
SBUS_NI = 3,
|
|
#endif
|
|
#if AP_RCPROTOCOL_DSM_ENABLED
|
|
DSM = 4,
|
|
#endif
|
|
#if AP_RCPROTOCOL_SUMD_ENABLED
|
|
SUMD = 5,
|
|
#endif
|
|
#if AP_RCPROTOCOL_SRXL_ENABLED
|
|
SRXL = 6,
|
|
#endif
|
|
#if AP_RCPROTOCOL_SRXL2_ENABLED
|
|
SRXL2 = 7,
|
|
#endif
|
|
#if AP_RCPROTOCOL_CRSF_ENABLED
|
|
CRSF = 8,
|
|
#endif
|
|
#if AP_RCPROTOCOL_ST24_ENABLED
|
|
ST24 = 9,
|
|
#endif
|
|
#if AP_RCPROTOCOL_FPORT_ENABLED
|
|
FPORT = 10,
|
|
#endif
|
|
#if AP_RCPROTOCOL_FPORT2_ENABLED
|
|
FPORT2 = 11,
|
|
#endif
|
|
#if AP_RCPROTOCOL_FASTSBUS_ENABLED
|
|
FASTSBUS = 12,
|
|
#endif
|
|
#if AP_RCPROTOCOL_DRONECAN_ENABLED
|
|
DRONECAN = 13,
|
|
#endif
|
|
#if AP_RCPROTOCOL_GHST_ENABLED
|
|
GHST = 14,
|
|
#endif
|
|
#if AP_RCPROTOCOL_MAVLINK_RADIO_ENABLED
|
|
MAVLINK_RADIO = 15,
|
|
#endif
|
|
#if AP_RCPROTOCOL_JOYSTICK_SFML_ENABLED
|
|
JOYSTICK_SFML = 16,
|
|
#endif
|
|
NONE //last enum always is None
|
|
};
|
|
|
|
// return protocol name as a string
|
|
static const char *protocol_name_from_protocol(rcprotocol_t protocol);
|
|
|
|
#if AP_RCPROTOCOL_ENABLED
|
|
|
|
AP_RCProtocol() {}
|
|
~AP_RCProtocol();
|
|
friend class AP_RCProtocol_Backend;
|
|
|
|
void init();
|
|
bool valid_serial_prot() const
|
|
{
|
|
return _valid_serial_prot;
|
|
}
|
|
bool should_search(uint32_t now_ms) const;
|
|
void process_pulse(uint32_t width_s0, uint32_t width_s1);
|
|
void process_pulse_list(const uint32_t *widths, uint16_t n, bool need_swap);
|
|
bool process_byte(uint8_t byte, uint32_t baudrate);
|
|
void process_handshake(uint32_t baudrate);
|
|
void update(void);
|
|
|
|
bool failsafe_active() const {
|
|
return _failsafe_active;
|
|
}
|
|
void set_failsafe_active(bool active) {
|
|
_failsafe_active = active;
|
|
}
|
|
|
|
void disable_for_pulses(enum rcprotocol_t protocol) {
|
|
_disabled_for_pulses |= (1U<<(uint8_t)protocol);
|
|
}
|
|
|
|
// for protocols without strong CRCs we require 3 good frames to lock on
|
|
bool requires_3_frames(enum rcprotocol_t p) {
|
|
switch (p) {
|
|
#if AP_RCPROTOCOL_DSM_ENABLED
|
|
case DSM:
|
|
#endif
|
|
#if AP_RCPROTOCOL_FASTSBUS_ENABLED
|
|
case FASTSBUS:
|
|
#endif
|
|
#if AP_RCPROTOCOL_SBUS_ENABLED
|
|
case SBUS:
|
|
#endif
|
|
#if AP_RCPROTOCOL_SBUS_NI_ENABLED
|
|
case SBUS_NI:
|
|
#endif
|
|
#if AP_RCPROTOCOL_PPMSUM_ENABLED
|
|
case PPMSUM:
|
|
#endif
|
|
#if AP_RCPROTOCOL_FPORT_ENABLED
|
|
case FPORT:
|
|
#endif
|
|
#if AP_RCPROTOCOL_FPORT2_ENABLED
|
|
case FPORT2:
|
|
#endif
|
|
#if AP_RCPROTOCOL_CRSF_ENABLED
|
|
case CRSF:
|
|
#endif
|
|
#if AP_RCPROTOCOL_GHST_ENABLED
|
|
case GHST:
|
|
#endif
|
|
return true;
|
|
#if AP_RCPROTOCOL_IBUS_ENABLED
|
|
case IBUS:
|
|
#endif
|
|
#if AP_RCPROTOCOL_SUMD_ENABLED
|
|
case SUMD:
|
|
#endif
|
|
#if AP_RCPROTOCOL_SRXL_ENABLED
|
|
case SRXL:
|
|
#endif
|
|
#if AP_RCPROTOCOL_SRXL2_ENABLED
|
|
case SRXL2:
|
|
#endif
|
|
#if AP_RCPROTOCOL_ST24_ENABLED
|
|
case ST24:
|
|
#endif
|
|
#if AP_RCPROTOCOL_DRONECAN_ENABLED
|
|
case DRONECAN:
|
|
#endif
|
|
#if AP_RCPROTOCOL_MAVLINK_RADIO_ENABLED
|
|
case MAVLINK_RADIO:
|
|
#endif
|
|
#if AP_RCPROTOCOL_JOYSTICK_SFML_ENABLED
|
|
case JOYSTICK_SFML:
|
|
#endif
|
|
case NONE:
|
|
return false;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
uint8_t num_channels();
|
|
uint16_t read(uint8_t chan);
|
|
void read(uint16_t *pwm, uint8_t n);
|
|
bool new_input();
|
|
void start_bind(void);
|
|
int16_t get_RSSI(void) const;
|
|
int16_t get_rx_link_quality(void) const;
|
|
|
|
// return protocol name as a string
|
|
const char *protocol_name(void) const;
|
|
|
|
// return detected protocol
|
|
enum rcprotocol_t protocol_detected(void) const {
|
|
return _detected_protocol;
|
|
}
|
|
|
|
// add a UART for RCIN
|
|
void add_uart(AP_HAL::UARTDriver* uart);
|
|
bool has_uart() const { return added.uart != nullptr; }
|
|
|
|
// set allowed RC protocols
|
|
void set_rc_protocols(uint32_t mask) {
|
|
rc_protocols_mask = mask;
|
|
}
|
|
|
|
class SerialConfig {
|
|
public:
|
|
void apply_to_uart(AP_HAL::UARTDriver *uart) const;
|
|
|
|
uint32_t baud;
|
|
uint8_t parity;
|
|
uint8_t stop_bits;
|
|
bool invert_rx;
|
|
};
|
|
|
|
// return true if we are decoding a byte stream, instead of pulses
|
|
bool using_uart(void) const {
|
|
return _detected_with_bytes;
|
|
}
|
|
|
|
// handle mavlink radio
|
|
#if AP_RCPROTOCOL_MAVLINK_RADIO_ENABLED
|
|
void handle_radio_rc_channels(const mavlink_radio_rc_channels_t* packet);
|
|
#endif
|
|
|
|
private:
|
|
void check_added_uart(void);
|
|
|
|
// return true if a specific protocol is enabled
|
|
bool protocol_enabled(enum rcprotocol_t protocol) const;
|
|
|
|
// explicitly investigate a backend for data, as opposed to
|
|
// feeding the backend a byte (or pulse-train) at a time and
|
|
// having them make an "add_input" callback):
|
|
bool detect_async_protocol(rcprotocol_t protocol);
|
|
|
|
enum rcprotocol_t _detected_protocol = NONE;
|
|
uint16_t _disabled_for_pulses;
|
|
bool _detected_with_bytes;
|
|
AP_RCProtocol_Backend *backend[NONE];
|
|
bool _new_input;
|
|
uint32_t _last_input_ms;
|
|
bool _failsafe_active;
|
|
bool _valid_serial_prot;
|
|
|
|
// optional additional uart
|
|
struct {
|
|
AP_HAL::UARTDriver *uart;
|
|
bool opened;
|
|
uint32_t last_config_change_ms;
|
|
uint8_t config_num;
|
|
} added;
|
|
|
|
// allowed RC protocols mask (first bit means "all")
|
|
uint32_t rc_protocols_mask;
|
|
|
|
#endif // AP_RCPROTCOL_ENABLED
|
|
|
|
};
|
|
|
|
#if AP_RCPROTOCOL_ENABLED
|
|
namespace AP {
|
|
AP_RCProtocol &RC();
|
|
};
|
|
|
|
#include "AP_RCProtocol_Backend.h"
|
|
#endif // AP_RCProtocol_enabled
|