ardupilot/libraries/AP_RCProtocol/AP_RCProtocol_DSM.h

80 lines
2.5 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
*/
#pragma once
#include "AP_RCProtocol.h"
#include "SoftSerial.h"
#define AP_DSM_MAX_CHANNELS 12
class AP_RCProtocol_DSM : public AP_RCProtocol_Backend {
public:
AP_RCProtocol_DSM(AP_RCProtocol &_frontend) : AP_RCProtocol_Backend(_frontend) {}
void process_pulse(uint32_t width_s0, uint32_t width_s1) override;
void process_byte(uint8_t byte, uint32_t baudrate) override;
void start_bind(void) override;
void update(void) override;
private:
void _process_byte(uint32_t timestamp_ms, uint8_t byte);
void dsm_decode();
bool dsm_decode_channel(uint16_t raw, unsigned shift, unsigned *channel, unsigned *value);
void dsm_guess_format(bool reset, const uint8_t dsm_frame[16], unsigned frame_channels);
bool dsm_parse_byte(uint32_t frame_time_ms, uint8_t b, uint16_t *values,
uint16_t *num_values, uint16_t max_channels);
bool dsm_decode(uint32_t frame_time_ms, const uint8_t dsm_frame[16],
uint16_t *values, uint16_t *num_values, uint16_t max_values);
/**< Channel resolution, 0=unknown, 10=10 bit, 11=11 bit */
uint8_t channel_shift;
// format guessing state
uint32_t cs10;
uint32_t cs11;
uint32_t samples;
// bind state machine
enum {
BIND_STATE_NONE,
BIND_STATE1,
BIND_STATE2,
BIND_STATE3,
BIND_STATE4,
} bind_state;
uint32_t bind_last_ms;
uint32_t bind_mode_saved;
uint16_t last_values[AP_DSM_MAX_CHANNELS];
struct {
uint8_t buf[16];
uint8_t ofs;
} byte_input;
enum DSM_DECODE_STATE {
DSM_DECODE_STATE_DESYNC = 0,
DSM_DECODE_STATE_SYNC
} dsm_decode_state;
uint32_t last_frame_time_ms;
uint32_t last_rx_time_ms;
uint16_t chan_count;
SoftSerial ss{115200, SoftSerial::SERIAL_CONFIG_8N1};
};