mirror of https://github.com/ArduPilot/ardupilot
142 lines
4.5 KiB
C++
142 lines
4.5 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
|
|
*/
|
|
|
|
#include "AP_RCProtocol.h"
|
|
#include <AP_Math/AP_Math.h>
|
|
#include <RC_Channel/RC_Channel.h>
|
|
#include <AP_Vehicle/AP_Vehicle_Type.h>
|
|
#include <AP_Logger/AP_Logger.h>
|
|
|
|
AP_RCProtocol_Backend::AP_RCProtocol_Backend(AP_RCProtocol &_frontend) :
|
|
frontend(_frontend),
|
|
rc_input_count(0),
|
|
last_rc_input_count(0),
|
|
_num_channels(0)
|
|
{}
|
|
|
|
bool AP_RCProtocol_Backend::new_input()
|
|
{
|
|
bool ret = rc_input_count != last_rc_input_count;
|
|
if (ret) {
|
|
last_rc_input_count = rc_input_count;
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
uint8_t AP_RCProtocol_Backend::num_channels() const
|
|
{
|
|
return _num_channels;
|
|
}
|
|
|
|
uint16_t AP_RCProtocol_Backend::read(uint8_t chan)
|
|
{
|
|
return _pwm_values[chan];
|
|
}
|
|
|
|
void AP_RCProtocol_Backend::read(uint16_t *pwm, uint8_t n)
|
|
{
|
|
if (n >= MAX_RCIN_CHANNELS) {
|
|
n = MAX_RCIN_CHANNELS;
|
|
}
|
|
memcpy(pwm, _pwm_values, n*sizeof(pwm[0]));
|
|
}
|
|
|
|
/*
|
|
provide input from a backend
|
|
*/
|
|
void AP_RCProtocol_Backend::add_input(uint8_t num_values, uint16_t *values, bool in_failsafe, int16_t _rssi, int16_t _rx_link_quality)
|
|
{
|
|
num_values = MIN(num_values, MAX_RCIN_CHANNELS);
|
|
memcpy(_pwm_values, values, num_values*sizeof(uint16_t));
|
|
_num_channels = num_values;
|
|
rc_frame_count++;
|
|
#if !APM_BUILD_TYPE(APM_BUILD_iofirmware)
|
|
if (rc().ignore_rc_failsafe()) {
|
|
in_failsafe = false;
|
|
}
|
|
#endif
|
|
if (!in_failsafe) {
|
|
rc_input_count++;
|
|
}
|
|
rssi = _rssi;
|
|
rx_link_quality = _rx_link_quality;
|
|
}
|
|
|
|
|
|
/*
|
|
decode channels from the standard 11bit format (used by CRSF, SBUS, FPort and FPort2)
|
|
must be used on multiples of 8 channels
|
|
*/
|
|
void AP_RCProtocol_Backend::decode_11bit_channels(const uint8_t* data, uint8_t nchannels, uint16_t *values, uint16_t mult, uint16_t div, uint16_t offset)
|
|
{
|
|
#define CHANNEL_SCALE(x) ((int32_t(x) * mult) / div + offset)
|
|
while (nchannels >= 8) {
|
|
const Channels11Bit_8Chan* channels = (const Channels11Bit_8Chan*)data;
|
|
values[0] = CHANNEL_SCALE(channels->ch0);
|
|
values[1] = CHANNEL_SCALE(channels->ch1);
|
|
values[2] = CHANNEL_SCALE(channels->ch2);
|
|
values[3] = CHANNEL_SCALE(channels->ch3);
|
|
values[4] = CHANNEL_SCALE(channels->ch4);
|
|
values[5] = CHANNEL_SCALE(channels->ch5);
|
|
values[6] = CHANNEL_SCALE(channels->ch6);
|
|
values[7] = CHANNEL_SCALE(channels->ch7);
|
|
|
|
nchannels -= 8;
|
|
data += sizeof(*channels);
|
|
values += 8;
|
|
}
|
|
}
|
|
|
|
/*
|
|
optionally log RC input data
|
|
*/
|
|
void AP_RCProtocol_Backend::log_data(AP_RCProtocol::rcprotocol_t prot, uint32_t timestamp, const uint8_t *data, uint8_t len) const
|
|
{
|
|
#if !APM_BUILD_TYPE(APM_BUILD_iofirmware) && !APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
|
|
if (rc().log_raw_data()) {
|
|
uint32_t u32[10] {};
|
|
if (len > sizeof(u32)) {
|
|
len = sizeof(u32);
|
|
}
|
|
memcpy(u32, data, len);
|
|
// @LoggerMessage: RCDA
|
|
// @Description: Raw RC data
|
|
// @Field: TimeUS: Time since system startup
|
|
// @Field: TS: data arrival timestamp
|
|
// @Field: Prot: Protocol currently being decoded
|
|
// @Field: Len: Number of valid bytes in message
|
|
// @Field: U0: first quartet of bytes
|
|
// @Field: U1: second quartet of bytes
|
|
// @Field: U2: third quartet of bytes
|
|
// @Field: U3: fourth quartet of bytes
|
|
// @Field: U4: fifth quartet of bytes
|
|
// @Field: U5: sixth quartet of bytes
|
|
// @Field: U6: seventh quartet of bytes
|
|
// @Field: U7: eight quartet of bytes
|
|
// @Field: U8: ninth quartet of bytes
|
|
// @Field: U9: tenth quartet of bytes
|
|
AP::logger().Write("RCDA", "TimeUS,TS,Prot,Len,U0,U1,U2,U3,U4,U5,U6,U7,U8,U9", "QIBBIIIIIIIIII",
|
|
AP_HAL::micros64(),
|
|
timestamp,
|
|
(uint8_t)prot,
|
|
len,
|
|
u32[0], u32[1], u32[2], u32[3], u32[4],
|
|
u32[5], u32[6], u32[7], u32[8], u32[9]);
|
|
}
|
|
#endif
|
|
}
|