mirror of https://github.com/ArduPilot/ardupilot
483 lines
14 KiB
C++
483 lines
14 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_Vehicle/AP_Vehicle_Type.h>
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#include "AP_RCProtocol.h"
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#include "AP_RCProtocol_PPMSum.h"
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#include "AP_RCProtocol_DSM.h"
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#include "AP_RCProtocol_IBUS.h"
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#include "AP_RCProtocol_SBUS.h"
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#include "AP_RCProtocol_SUMD.h"
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#include "AP_RCProtocol_SRXL.h"
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#ifndef IOMCU_FW
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#include "AP_RCProtocol_SRXL2.h"
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#endif
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#include "AP_RCProtocol_CRSF.h"
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#include "AP_RCProtocol_ST24.h"
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#include "AP_RCProtocol_FPort.h"
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#include "AP_RCProtocol_FPort2.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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extern const AP_HAL::HAL& hal;
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void AP_RCProtocol::init()
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{
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backend[AP_RCProtocol::PPM] = new AP_RCProtocol_PPMSum(*this);
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backend[AP_RCProtocol::IBUS] = new AP_RCProtocol_IBUS(*this);
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backend[AP_RCProtocol::SBUS] = new AP_RCProtocol_SBUS(*this, true, 100000);
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#if AP_RCPROTOCOL_FASTSBUS_ENABLED
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backend[AP_RCProtocol::FASTSBUS] = new AP_RCProtocol_SBUS(*this, true, 200000);
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#endif
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backend[AP_RCProtocol::DSM] = new AP_RCProtocol_DSM(*this);
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backend[AP_RCProtocol::SUMD] = new AP_RCProtocol_SUMD(*this);
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#if AP_RCPROTOCOL_SRXL_ENABLED
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backend[AP_RCProtocol::SRXL] = new AP_RCProtocol_SRXL(*this);
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#endif
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#ifndef IOMCU_FW
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backend[AP_RCProtocol::SBUS_NI] = new AP_RCProtocol_SBUS(*this, false, 100000);
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backend[AP_RCProtocol::SRXL2] = new AP_RCProtocol_SRXL2(*this);
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backend[AP_RCProtocol::CRSF] = new AP_RCProtocol_CRSF(*this);
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#if AP_RCPROTOCOL_FPORT2_ENABLED
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backend[AP_RCProtocol::FPORT2] = new AP_RCProtocol_FPort2(*this, true);
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#endif
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#endif
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backend[AP_RCProtocol::ST24] = new AP_RCProtocol_ST24(*this);
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#if AP_RCPROTOCOL_FPORT_ENABLED
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backend[AP_RCProtocol::FPORT] = new AP_RCProtocol_FPort(*this, true);
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#endif
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}
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AP_RCProtocol::~AP_RCProtocol()
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{
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for (uint8_t i = 0; i < ARRAY_SIZE(backend); i++) {
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if (backend[i] != nullptr) {
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delete backend[i];
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backend[i] = nullptr;
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}
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}
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}
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bool AP_RCProtocol::should_search(uint32_t now_ms) const
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{
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#if !defined(IOMCU_FW) && !APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
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if (_detected_protocol != AP_RCProtocol::NONE && !rc().multiple_receiver_support()) {
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return false;
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}
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#else
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// on IOMCU don't allow protocol to change once detected
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if (_detected_protocol != AP_RCProtocol::NONE) {
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return false;
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}
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#endif
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return (now_ms - _last_input_ms >= 200);
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}
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void AP_RCProtocol::process_pulse(uint32_t width_s0, uint32_t width_s1)
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{
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uint32_t now = AP_HAL::millis();
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bool searching = should_search(now);
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#ifndef IOMCU_FW
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rc_protocols_mask = rc().enabled_protocols();
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#endif
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if (_detected_protocol != AP_RCProtocol::NONE &&
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!protocol_enabled(_detected_protocol)) {
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_detected_protocol = AP_RCProtocol::NONE;
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}
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if (_detected_protocol != AP_RCProtocol::NONE && _detected_with_bytes && !searching) {
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// we're using byte inputs, discard pulses
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return;
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}
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// first try current protocol
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if (_detected_protocol != AP_RCProtocol::NONE && !searching) {
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backend[_detected_protocol]->process_pulse(width_s0, width_s1);
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if (backend[_detected_protocol]->new_input()) {
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_new_input = true;
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_last_input_ms = now;
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}
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return;
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}
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// otherwise scan all protocols
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for (uint8_t i = 0; i < ARRAY_SIZE(backend); i++) {
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if (_disabled_for_pulses & (1U << i)) {
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// this protocol is disabled for pulse input
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continue;
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}
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if (backend[i] != nullptr) {
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if (!protocol_enabled(rcprotocol_t(i))) {
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continue;
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}
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const uint32_t frame_count = backend[i]->get_rc_frame_count();
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const uint32_t input_count = backend[i]->get_rc_input_count();
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backend[i]->process_pulse(width_s0, width_s1);
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const uint32_t frame_count2 = backend[i]->get_rc_frame_count();
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if (frame_count2 > frame_count) {
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if (requires_3_frames((rcprotocol_t)i) && frame_count2 < 3) {
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continue;
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}
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_new_input = (input_count != backend[i]->get_rc_input_count());
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_detected_protocol = (enum AP_RCProtocol::rcprotocol_t)i;
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for (uint8_t j = 0; j < ARRAY_SIZE(backend); j++) {
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if (backend[j]) {
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backend[j]->reset_rc_frame_count();
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}
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}
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_last_input_ms = now;
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_detected_with_bytes = false;
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break;
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}
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}
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}
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}
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/*
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process an array of pulses. n must be even
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*/
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void AP_RCProtocol::process_pulse_list(const uint32_t *widths, uint16_t n, bool need_swap)
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{
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if (n & 1) {
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return;
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}
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while (n) {
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uint32_t widths0 = widths[0];
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uint32_t widths1 = widths[1];
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if (need_swap) {
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uint32_t tmp = widths1;
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widths1 = widths0;
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widths0 = tmp;
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}
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widths1 -= widths0;
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process_pulse(widths0, widths1);
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widths += 2;
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n -= 2;
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}
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}
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bool AP_RCProtocol::process_byte(uint8_t byte, uint32_t baudrate)
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{
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uint32_t now = AP_HAL::millis();
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bool searching = should_search(now);
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#ifndef IOMCU_FW
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rc_protocols_mask = rc().enabled_protocols();
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#endif
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if (_detected_protocol != AP_RCProtocol::NONE &&
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!protocol_enabled(_detected_protocol)) {
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_detected_protocol = AP_RCProtocol::NONE;
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}
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if (_detected_protocol != AP_RCProtocol::NONE && !_detected_with_bytes && !searching) {
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// we're using pulse inputs, discard bytes
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return false;
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}
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// first try current protocol
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if (_detected_protocol != AP_RCProtocol::NONE && !searching) {
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backend[_detected_protocol]->process_byte(byte, baudrate);
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if (backend[_detected_protocol]->new_input()) {
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_new_input = true;
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_last_input_ms = now;
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}
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return true;
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}
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// otherwise scan all protocols
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for (uint8_t i = 0; i < ARRAY_SIZE(backend); i++) {
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if (backend[i] != nullptr) {
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if (!protocol_enabled(rcprotocol_t(i))) {
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continue;
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}
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const uint32_t frame_count = backend[i]->get_rc_frame_count();
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const uint32_t input_count = backend[i]->get_rc_input_count();
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backend[i]->process_byte(byte, baudrate);
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const uint32_t frame_count2 = backend[i]->get_rc_frame_count();
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if (frame_count2 > frame_count) {
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if (requires_3_frames((rcprotocol_t)i) && frame_count2 < 3) {
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continue;
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}
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_new_input = (input_count != backend[i]->get_rc_input_count());
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_detected_protocol = (enum AP_RCProtocol::rcprotocol_t)i;
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_last_input_ms = now;
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_detected_with_bytes = true;
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for (uint8_t j = 0; j < ARRAY_SIZE(backend); j++) {
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if (backend[j]) {
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backend[j]->reset_rc_frame_count();
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}
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}
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// stop decoding pulses to save CPU
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hal.rcin->pulse_input_enable(false);
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break;
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}
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}
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}
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return false;
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}
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// handshake if nothing else has succeeded so far
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void AP_RCProtocol::process_handshake( uint32_t baudrate)
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{
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// if we ever succeeded before then do not handshake
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if (_detected_protocol != AP_RCProtocol::NONE || _last_input_ms > 0) {
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return;
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}
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// otherwise handshake all protocols
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for (uint8_t i = 0; i < ARRAY_SIZE(backend); i++) {
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if (backend[i] != nullptr) {
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backend[i]->process_handshake(baudrate);
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}
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}
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}
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/*
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check for bytes from an additional uart. This is used to support RC
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protocols from SERIALn_PROTOCOL
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*/
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void AP_RCProtocol::SerialConfig::apply_to_uart(AP_HAL::UARTDriver *uart) const
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{
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uart->configure_parity(parity);
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uart->set_stop_bits(stop_bits);
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if (invert_rx) {
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uart->set_options(uart->get_options() | AP_HAL::UARTDriver::OPTION_RXINV);
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} else {
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uart->set_options(uart->get_options() & ~AP_HAL::UARTDriver::OPTION_RXINV);
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}
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uart->begin(baud, 128, 128);
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}
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static const AP_RCProtocol::SerialConfig serial_configs[] {
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// BAUD PRTY STOP INVERT-RX
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// inverted and uninverted 115200 8N1:
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{ 115200, 0, 1, false },
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{ 115200, 0, 1, true },
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// SBUS settings, even parity, 2 stop bits:
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{ 100000, 2, 2, true },
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#if AP_RCPROTOCOL_FASTSBUS_ENABLED
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// FastSBUS:
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{ 200000, 2, 2, true },
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#endif
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// CrossFire:
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{ 416666, 0, 1, false },
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};
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static_assert(ARRAY_SIZE(serial_configs) > 1, "must have at least one serial config");
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void AP_RCProtocol::check_added_uart(void)
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{
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if (!added.uart) {
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return;
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}
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uint32_t now = AP_HAL::millis();
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bool searching = should_search(now);
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if (!searching && !_detected_with_bytes) {
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// not using this uart
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return;
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}
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if (!added.opened) {
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added.opened = true;
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added.last_config_change_ms = AP_HAL::millis();
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serial_configs[added.config_num].apply_to_uart(added.uart);
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}
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#ifndef IOMCU_FW
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rc_protocols_mask = rc().enabled_protocols();
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#endif
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const uint32_t current_baud = serial_configs[added.config_num].baud;
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process_handshake(current_baud);
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uint32_t n = added.uart->available();
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n = MIN(n, 255U);
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for (uint8_t i=0; i<n; i++) {
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int16_t b = added.uart->read();
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if (b >= 0) {
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process_byte(uint8_t(b), current_baud);
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}
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}
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if (searching) {
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if (now - added.last_config_change_ms > 1000) {
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// change configs if not detected once a second
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added.config_num++;
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if (added.config_num >= ARRAY_SIZE(serial_configs)) {
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added.config_num = 0;
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}
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added.opened = false;
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}
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// power loss on CRSF requires re-bootstrap because the baudrate is reset to the default. The CRSF side will
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// drop back down to 416k if it has received 200 incorrect characters (or none at all)
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} else if (_detected_protocol != AP_RCProtocol::NONE
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// protocols that want to be able to renegotiate should return false in is_rx_active()
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&& !backend[_detected_protocol]->is_rx_active()
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&& now - added.last_config_change_ms > 1000) {
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added.opened = false;
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}
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}
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void AP_RCProtocol::update()
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{
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check_added_uart();
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}
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bool AP_RCProtocol::new_input()
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{
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bool ret = _new_input;
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_new_input = false;
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// if we have an extra UART from a SERIALn_PROTOCOL then check it for data
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check_added_uart();
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// run update function on backends
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for (uint8_t i = 0; i < ARRAY_SIZE(backend); i++) {
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if (backend[i] != nullptr) {
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backend[i]->update();
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}
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}
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return ret;
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}
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uint8_t AP_RCProtocol::num_channels()
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{
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if (_detected_protocol != AP_RCProtocol::NONE) {
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return backend[_detected_protocol]->num_channels();
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}
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return 0;
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}
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uint16_t AP_RCProtocol::read(uint8_t chan)
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{
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if (_detected_protocol != AP_RCProtocol::NONE) {
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return backend[_detected_protocol]->read(chan);
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}
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return 0;
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}
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void AP_RCProtocol::read(uint16_t *pwm, uint8_t n)
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{
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if (_detected_protocol != AP_RCProtocol::NONE) {
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backend[_detected_protocol]->read(pwm, n);
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}
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}
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int16_t AP_RCProtocol::get_RSSI(void) const
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{
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if (_detected_protocol != AP_RCProtocol::NONE) {
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return backend[_detected_protocol]->get_RSSI();
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}
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return -1;
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}
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int16_t AP_RCProtocol::get_rx_link_quality(void) const
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{
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if (_detected_protocol != AP_RCProtocol::NONE) {
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return backend[_detected_protocol]->get_rx_link_quality();
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}
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return -1;
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}
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/*
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ask for bind start on supported receivers (eg spektrum satellite)
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*/
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void AP_RCProtocol::start_bind(void)
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{
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for (uint8_t i = 0; i < ARRAY_SIZE(backend); i++) {
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if (backend[i] != nullptr) {
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backend[i]->start_bind();
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}
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}
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}
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/*
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return protocol name
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*/
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const char *AP_RCProtocol::protocol_name_from_protocol(rcprotocol_t protocol)
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{
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switch (protocol) {
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case PPM:
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return "PPM";
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case IBUS:
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return "IBUS";
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case SBUS:
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case SBUS_NI:
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return "SBUS";
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#if AP_RCPROTOCOL_FASTSBUS_ENABLED
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case FASTSBUS:
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return "FastSBUS";
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#endif
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case DSM:
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return "DSM";
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case SUMD:
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return "SUMD";
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#if AP_RCPROTOCOL_SRXL_ENABLED
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case SRXL:
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return "SRXL";
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#endif
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case SRXL2:
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return "SRXL2";
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case CRSF:
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return "CRSF";
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case ST24:
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return "ST24";
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#if AP_RCPROTOCOL_FPORT_ENABLED
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case FPORT:
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return "FPORT";
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#endif
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#if AP_RCPROTOCOL_FPORT2_ENABLED
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case FPORT2:
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return "FPORT2";
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#endif
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case NONE:
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break;
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}
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return nullptr;
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}
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/*
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return protocol name
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*/
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const char *AP_RCProtocol::protocol_name(void) const
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{
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return protocol_name_from_protocol(_detected_protocol);
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}
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/*
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add a uart to decode
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*/
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void AP_RCProtocol::add_uart(AP_HAL::UARTDriver* uart)
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{
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added.uart = uart;
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added.uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
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}
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// return true if a specific protocol is enabled
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bool AP_RCProtocol::protocol_enabled(rcprotocol_t protocol) const
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{
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if ((rc_protocols_mask & 1) != 0) {
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// all protocols enabled
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return true;
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}
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return ((1U<<(uint8_t(protocol)+1)) & rc_protocols_mask) != 0;
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}
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namespace AP {
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AP_RCProtocol &RC()
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{
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static AP_RCProtocol rcprot;
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return rcprot;
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}
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};
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