mirror of https://github.com/ArduPilot/ardupilot
55 lines
1.9 KiB
C++
55 lines
1.9 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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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 start_bind(void) override;
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void update(void) override;
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private:
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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]);
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bool dsm_decode(uint64_t frame_time, 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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uint64_t dsm_last_frame_time; /**< Timestamp for start of last dsm frame */
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unsigned dsm_channel_shift; /**< Channel resolution, 0=unknown, 10=10 bit, 11=11 bit */
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// state of DSM decoder
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struct {
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uint16_t bytes[16]; // including start bit and stop bit
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uint16_t bit_ofs;
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} dsm_state;
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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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};
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