mirror of https://github.com/ArduPilot/ardupilot
76 lines
3.2 KiB
C++
76 lines
3.2 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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#pragma once
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#include "AP_RCProtocol_config.h"
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#if AP_RCPROTOCOL_SRXL2_ENABLED
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#include "AP_RCProtocol.h"
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#include "SoftSerial.h"
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#define SRXL2_MAX_CHANNELS 32U /* Maximum number of channels from srxl2 datastream */
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#define SRXL2_FRAMELEN_MAX 80U /* maximum possible framelengh */
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#define SRXL2_HEADER_LEN 3U
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class AP_RCProtocol_SRXL2 : public AP_RCProtocol_Backend {
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public:
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AP_RCProtocol_SRXL2(AP_RCProtocol &_frontend);
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virtual ~AP_RCProtocol_SRXL2();
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void process_byte(uint8_t byte, uint32_t baudrate) override;
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void process_handshake(uint32_t baudrate) override;
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void start_bind(void) override;
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void update(void) override;
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// get singleton instance
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static AP_RCProtocol_SRXL2* get_singleton() {
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return _singleton;
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}
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void capture_scaled_input(const uint8_t *values_p, bool in_failsafe, int16_t rssi);
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void send_on_uart(uint8_t* pBuffer, uint8_t length);
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void change_baud_rate(uint32_t baudrate);
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private:
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static AP_RCProtocol_SRXL2* _singleton;
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void _process_byte(uint32_t timestamp_us, uint8_t byte);
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void _bootstrap(uint8_t device_id);
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bool is_bootstrapped() const { return _device_id != 0; }
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uint8_t _buffer[SRXL2_FRAMELEN_MAX]; /* buffer for raw srxl frame data in correct order --> buffer[0]=byte0 buffer[1]=byte1 */
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uint8_t _buflen; /* length in number of bytes of received srxl dataframe in buffer */
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uint32_t _last_run_ms; // last time the state machine was run
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uint16_t _channels[SRXL2_MAX_CHANNELS < MAX_RCIN_CHANNELS ? SRXL2_MAX_CHANNELS : MAX_RCIN_CHANNELS]; /* buffer for extracted RC channel data as pulsewidth in microseconds */
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bool _in_bootstrap_or_failsafe; // controls whether we allow UART sends outside a receive time constraint
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uint8_t _device_id;
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enum {
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STATE_IDLE, /* do nothing */
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STATE_NEW, /* get header of frame + prepare for frame reception */
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STATE_COLLECT /* collect RC channel data from frame */
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};
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uint8_t _frame_len_full; /* Length in number of bytes of full srxl datastream */
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uint8_t _decode_state; /* Current state of SRXL frame decoding */
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uint8_t _decode_state_next; /* State of frame decoding that will be applied when the next byte from dataframe drops in */
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bool _in_failsafe = false;
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int16_t _new_rssi = -1;
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uint32_t _last_handshake_ms;
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uint32_t _handshake_start_ms;
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};
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#endif // AP_RCPROTOCOL_SRXL2_ENABLED
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