mirror of https://github.com/ArduPilot/ardupilot
116 lines
3.4 KiB
C++
116 lines
3.4 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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#include "AP_RCProtocol.h"
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#include <AP_Math/AP_Math.h>
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#include <RC_Channel/RC_Channel.h>
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#include <AP_Vehicle/AP_Vehicle_Type.h>
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#include <AP_Logger/AP_Logger.h>
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AP_RCProtocol_Backend::AP_RCProtocol_Backend(AP_RCProtocol &_frontend) :
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frontend(_frontend),
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rc_input_count(0),
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last_rc_input_count(0),
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_num_channels(0)
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{}
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bool AP_RCProtocol_Backend::new_input()
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{
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bool ret = rc_input_count != last_rc_input_count;
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if (ret) {
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last_rc_input_count = rc_input_count;
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}
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return ret;
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}
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uint8_t AP_RCProtocol_Backend::num_channels()
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{
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return _num_channels;
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}
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uint16_t AP_RCProtocol_Backend::read(uint8_t chan)
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{
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return _pwm_values[chan];
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}
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void AP_RCProtocol_Backend::read(uint16_t *pwm, uint8_t n)
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{
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if (n >= MAX_RCIN_CHANNELS) {
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n = MAX_RCIN_CHANNELS;
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}
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memcpy(pwm, _pwm_values, n*sizeof(pwm[0]));
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}
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/*
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provide input from a backend
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*/
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void AP_RCProtocol_Backend::add_input(uint8_t num_values, uint16_t *values, bool in_failsafe, int16_t _rssi)
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{
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num_values = MIN(num_values, MAX_RCIN_CHANNELS);
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memcpy(_pwm_values, values, num_values*sizeof(uint16_t));
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_num_channels = num_values;
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rc_frame_count++;
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#if !APM_BUILD_TYPE(APM_BUILD_iofirmware)
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if (rc().ignore_rc_failsafe()) {
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in_failsafe = false;
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}
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#endif
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if (!in_failsafe) {
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rc_input_count++;
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}
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rssi = _rssi;
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}
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/*
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optionally log RC input data
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*/
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void AP_RCProtocol_Backend::log_data(AP_RCProtocol::rcprotocol_t prot, uint32_t timestamp, const uint8_t *data, uint8_t len) const
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{
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#if !APM_BUILD_TYPE(APM_BUILD_iofirmware)
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if (rc().log_raw_data()) {
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uint32_t u32[10] {};
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if (len > sizeof(u32)) {
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len = sizeof(u32);
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}
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memcpy(u32, data, len);
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// @LoggerMessage: RCDA
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// @Description: Raw RC data
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// @Field: TimeUS: Time since system startup
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// @Field: TS: data arrival timestamp
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// @Field: Prot: Protocol currently being decoded
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// @Field: Len: Number of valid bytes in message
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// @Field: U0: first quartet of bytes
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// @Field: U1: second quartet of bytes
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// @Field: U2: third quartet of bytes
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// @Field: U3: fourth quartet of bytes
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// @Field: U4: fifth quartet of bytes
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// @Field: U5: sixth quartet of bytes
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// @Field: U6: seventh quartet of bytes
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// @Field: U7: eight quartet of bytes
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// @Field: U8: ninth quartet of bytes
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// @Field: U9: tenth quartet of bytes
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AP::logger().Write("RCDA", "TimeUS,TS,Prot,Len,U0,U1,U2,U3,U4,U5,U6,U7,U8,U9", "QIBBIIIIIIIIII",
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AP_HAL::micros64(),
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timestamp,
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(uint8_t)prot,
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len,
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u32[0], u32[1], u32[2], u32[3], u32[4],
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u32[5], u32[6], u32[7], u32[8], u32[9]);
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}
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#endif
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}
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