mirror of https://github.com/ArduPilot/ardupilot
452 lines
13 KiB
C++
452 lines
13 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
|
|
*/
|
|
|
|
#include <AP_Vehicle/AP_Vehicle_Type.h>
|
|
#include "AP_RCProtocol.h"
|
|
#include "AP_RCProtocol_PPMSum.h"
|
|
#include "AP_RCProtocol_DSM.h"
|
|
#include "AP_RCProtocol_IBUS.h"
|
|
#include "AP_RCProtocol_SBUS.h"
|
|
#include "AP_RCProtocol_SUMD.h"
|
|
#include "AP_RCProtocol_SRXL.h"
|
|
#ifndef IOMCU_FW
|
|
#include "AP_RCProtocol_SRXL2.h"
|
|
#endif
|
|
#include "AP_RCProtocol_CRSF.h"
|
|
#include "AP_RCProtocol_ST24.h"
|
|
#include "AP_RCProtocol_FPort.h"
|
|
#include "AP_RCProtocol_FPort2.h"
|
|
#include <AP_Math/AP_Math.h>
|
|
#include <RC_Channel/RC_Channel.h>
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
void AP_RCProtocol::init()
|
|
{
|
|
backend[AP_RCProtocol::PPM] = new AP_RCProtocol_PPMSum(*this);
|
|
backend[AP_RCProtocol::IBUS] = new AP_RCProtocol_IBUS(*this);
|
|
backend[AP_RCProtocol::SBUS] = new AP_RCProtocol_SBUS(*this, true);
|
|
backend[AP_RCProtocol::DSM] = new AP_RCProtocol_DSM(*this);
|
|
backend[AP_RCProtocol::SUMD] = new AP_RCProtocol_SUMD(*this);
|
|
backend[AP_RCProtocol::SRXL] = new AP_RCProtocol_SRXL(*this);
|
|
#ifndef IOMCU_FW
|
|
backend[AP_RCProtocol::SBUS_NI] = new AP_RCProtocol_SBUS(*this, false);
|
|
backend[AP_RCProtocol::SRXL2] = new AP_RCProtocol_SRXL2(*this);
|
|
backend[AP_RCProtocol::CRSF] = new AP_RCProtocol_CRSF(*this);
|
|
backend[AP_RCProtocol::FPORT2] = new AP_RCProtocol_FPort2(*this, true);
|
|
#endif
|
|
backend[AP_RCProtocol::ST24] = new AP_RCProtocol_ST24(*this);
|
|
backend[AP_RCProtocol::FPORT] = new AP_RCProtocol_FPort(*this, true);
|
|
}
|
|
|
|
AP_RCProtocol::~AP_RCProtocol()
|
|
{
|
|
for (uint8_t i = 0; i < AP_RCProtocol::NONE; i++) {
|
|
if (backend[i] != nullptr) {
|
|
delete backend[i];
|
|
backend[i] = nullptr;
|
|
}
|
|
}
|
|
}
|
|
|
|
bool AP_RCProtocol::should_search(uint32_t now_ms) const
|
|
{
|
|
#ifndef IOMCU_FW
|
|
if (_detected_protocol != AP_RCProtocol::NONE && !rc().multiple_receiver_support()) {
|
|
return false;
|
|
}
|
|
#endif
|
|
return (now_ms - _last_input_ms >= 200);
|
|
}
|
|
|
|
void AP_RCProtocol::process_pulse(uint32_t width_s0, uint32_t width_s1)
|
|
{
|
|
uint32_t now = AP_HAL::millis();
|
|
bool searching = should_search(now);
|
|
|
|
#ifndef IOMCU_FW
|
|
rc_protocols_mask = rc().enabled_protocols();
|
|
#endif
|
|
|
|
if (_detected_protocol != AP_RCProtocol::NONE &&
|
|
!protocol_enabled(_detected_protocol)) {
|
|
_detected_protocol = AP_RCProtocol::NONE;
|
|
}
|
|
|
|
if (_detected_protocol != AP_RCProtocol::NONE && _detected_with_bytes && !searching) {
|
|
// we're using byte inputs, discard pulses
|
|
return;
|
|
}
|
|
// first try current protocol
|
|
if (_detected_protocol != AP_RCProtocol::NONE && !searching) {
|
|
backend[_detected_protocol]->process_pulse(width_s0, width_s1);
|
|
if (backend[_detected_protocol]->new_input()) {
|
|
_new_input = true;
|
|
_last_input_ms = now;
|
|
}
|
|
return;
|
|
}
|
|
|
|
// otherwise scan all protocols
|
|
for (uint8_t i = 0; i < AP_RCProtocol::NONE; i++) {
|
|
if (_disabled_for_pulses & (1U << i)) {
|
|
// this protocol is disabled for pulse input
|
|
continue;
|
|
}
|
|
if (backend[i] != nullptr) {
|
|
if (!protocol_enabled(rcprotocol_t(i))) {
|
|
continue;
|
|
}
|
|
const uint32_t frame_count = backend[i]->get_rc_frame_count();
|
|
const uint32_t input_count = backend[i]->get_rc_input_count();
|
|
backend[i]->process_pulse(width_s0, width_s1);
|
|
const uint32_t frame_count2 = backend[i]->get_rc_frame_count();
|
|
if (frame_count2 > frame_count) {
|
|
if (requires_3_frames((rcprotocol_t)i) && frame_count2 < 3) {
|
|
continue;
|
|
}
|
|
_new_input = (input_count != backend[i]->get_rc_input_count());
|
|
_detected_protocol = (enum AP_RCProtocol::rcprotocol_t)i;
|
|
for (uint8_t j = 0; j < AP_RCProtocol::NONE; j++) {
|
|
if (backend[j]) {
|
|
backend[j]->reset_rc_frame_count();
|
|
}
|
|
}
|
|
_last_input_ms = now;
|
|
_detected_with_bytes = false;
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
process an array of pulses. n must be even
|
|
*/
|
|
void AP_RCProtocol::process_pulse_list(const uint32_t *widths, uint16_t n, bool need_swap)
|
|
{
|
|
if (n & 1) {
|
|
return;
|
|
}
|
|
while (n) {
|
|
uint32_t widths0 = widths[0];
|
|
uint32_t widths1 = widths[1];
|
|
if (need_swap) {
|
|
uint32_t tmp = widths1;
|
|
widths1 = widths0;
|
|
widths0 = tmp;
|
|
}
|
|
widths1 -= widths0;
|
|
process_pulse(widths0, widths1);
|
|
widths += 2;
|
|
n -= 2;
|
|
}
|
|
}
|
|
|
|
bool AP_RCProtocol::process_byte(uint8_t byte, uint32_t baudrate)
|
|
{
|
|
uint32_t now = AP_HAL::millis();
|
|
bool searching = should_search(now);
|
|
|
|
#ifndef IOMCU_FW
|
|
rc_protocols_mask = rc().enabled_protocols();
|
|
#endif
|
|
|
|
if (_detected_protocol != AP_RCProtocol::NONE &&
|
|
!protocol_enabled(_detected_protocol)) {
|
|
_detected_protocol = AP_RCProtocol::NONE;
|
|
}
|
|
|
|
if (_detected_protocol != AP_RCProtocol::NONE && !_detected_with_bytes && !searching) {
|
|
// we're using pulse inputs, discard bytes
|
|
return false;
|
|
}
|
|
|
|
// first try current protocol
|
|
if (_detected_protocol != AP_RCProtocol::NONE && !searching) {
|
|
backend[_detected_protocol]->process_byte(byte, baudrate);
|
|
if (backend[_detected_protocol]->new_input()) {
|
|
_new_input = true;
|
|
_last_input_ms = now;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
// otherwise scan all protocols
|
|
for (uint8_t i = 0; i < AP_RCProtocol::NONE; i++) {
|
|
if (backend[i] != nullptr) {
|
|
if (!protocol_enabled(rcprotocol_t(i))) {
|
|
continue;
|
|
}
|
|
const uint32_t frame_count = backend[i]->get_rc_frame_count();
|
|
const uint32_t input_count = backend[i]->get_rc_input_count();
|
|
backend[i]->process_byte(byte, baudrate);
|
|
const uint32_t frame_count2 = backend[i]->get_rc_frame_count();
|
|
if (frame_count2 > frame_count) {
|
|
if (requires_3_frames((rcprotocol_t)i) && frame_count2 < 3) {
|
|
continue;
|
|
}
|
|
_new_input = (input_count != backend[i]->get_rc_input_count());
|
|
_detected_protocol = (enum AP_RCProtocol::rcprotocol_t)i;
|
|
_last_input_ms = now;
|
|
_detected_with_bytes = true;
|
|
for (uint8_t j = 0; j < AP_RCProtocol::NONE; j++) {
|
|
if (backend[j]) {
|
|
backend[j]->reset_rc_frame_count();
|
|
}
|
|
}
|
|
// stop decoding pulses to save CPU
|
|
hal.rcin->pulse_input_enable(false);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
return false;
|
|
}
|
|
|
|
// handshake if nothing else has succeeded so far
|
|
void AP_RCProtocol::process_handshake( uint32_t baudrate)
|
|
{
|
|
// if we ever succeeded before then do not handshake
|
|
if (_detected_protocol != AP_RCProtocol::NONE || _last_input_ms > 0) {
|
|
return;
|
|
}
|
|
|
|
// otherwise handshake all protocols
|
|
for (uint8_t i = 0; i < AP_RCProtocol::NONE; i++) {
|
|
if (backend[i] != nullptr) {
|
|
backend[i]->process_handshake(baudrate);
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
check for bytes from an additional uart. This is used to support RC
|
|
protocols from SERIALn_PROTOCOL
|
|
*/
|
|
void AP_RCProtocol::check_added_uart(void)
|
|
{
|
|
if (!added.uart) {
|
|
return;
|
|
}
|
|
uint32_t now = AP_HAL::millis();
|
|
bool searching = should_search(now);
|
|
if (!searching && !_detected_with_bytes) {
|
|
// not using this uart
|
|
return;
|
|
}
|
|
if (!added.opened) {
|
|
added.opened = true;
|
|
switch (added.phase) {
|
|
case CONFIG_115200_8N1:
|
|
added.baudrate = 115200;
|
|
added.uart->configure_parity(0);
|
|
added.uart->set_stop_bits(1);
|
|
added.uart->set_options(added.uart->get_options() & ~AP_HAL::UARTDriver::OPTION_RXINV);
|
|
break;
|
|
case CONFIG_115200_8N1I:
|
|
added.baudrate = 115200;
|
|
added.uart->configure_parity(0);
|
|
added.uart->set_stop_bits(1);
|
|
added.uart->set_options(added.uart->get_options() | AP_HAL::UARTDriver::OPTION_RXINV);
|
|
break;
|
|
case CONFIG_100000_8E2I:
|
|
// assume SBUS settings, even parity, 2 stop bits
|
|
added.baudrate = 100000;
|
|
added.uart->configure_parity(2);
|
|
added.uart->set_stop_bits(2);
|
|
added.uart->set_options(added.uart->get_options() | AP_HAL::UARTDriver::OPTION_RXINV);
|
|
break;
|
|
case CONFIG_420000_8N1:
|
|
added.baudrate = CRSF_BAUDRATE;
|
|
added.uart->configure_parity(0);
|
|
added.uart->set_stop_bits(1);
|
|
added.uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
|
|
added.uart->set_blocking_writes(false);
|
|
added.uart->set_options(added.uart->get_options() & ~AP_HAL::UARTDriver::OPTION_RXINV);
|
|
break;
|
|
}
|
|
added.uart->begin(added.baudrate, 128, 128);
|
|
added.last_baud_change_ms = AP_HAL::millis();
|
|
}
|
|
#ifndef IOMCU_FW
|
|
rc_protocols_mask = rc().enabled_protocols();
|
|
#endif
|
|
process_handshake(added.baudrate);
|
|
|
|
uint32_t n = added.uart->available();
|
|
n = MIN(n, 255U);
|
|
for (uint8_t i=0; i<n; i++) {
|
|
int16_t b = added.uart->read();
|
|
if (b >= 0) {
|
|
process_byte(uint8_t(b), added.baudrate);
|
|
}
|
|
}
|
|
if (!_detected_with_bytes) {
|
|
if (now - added.last_baud_change_ms > 1000) {
|
|
// flip baudrates if not detected once a second
|
|
added.phase = (enum config_phase)(uint8_t(added.phase) + 1);
|
|
if (added.phase > CONFIG_420000_8N1) {
|
|
added.phase = (enum config_phase)0;
|
|
}
|
|
added.opened = false;
|
|
}
|
|
}
|
|
}
|
|
|
|
void AP_RCProtocol::update()
|
|
{
|
|
check_added_uart();
|
|
}
|
|
|
|
bool AP_RCProtocol::new_input()
|
|
{
|
|
bool ret = _new_input;
|
|
_new_input = false;
|
|
|
|
// if we have an extra UART from a SERIALn_PROTOCOL then check it for data
|
|
check_added_uart();
|
|
|
|
// run update function on backends
|
|
for (uint8_t i = 0; i < AP_RCProtocol::NONE; i++) {
|
|
if (backend[i] != nullptr) {
|
|
backend[i]->update();
|
|
}
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
uint8_t AP_RCProtocol::num_channels()
|
|
{
|
|
if (_detected_protocol != AP_RCProtocol::NONE) {
|
|
return backend[_detected_protocol]->num_channels();
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
uint16_t AP_RCProtocol::read(uint8_t chan)
|
|
{
|
|
if (_detected_protocol != AP_RCProtocol::NONE) {
|
|
return backend[_detected_protocol]->read(chan);
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
void AP_RCProtocol::read(uint16_t *pwm, uint8_t n)
|
|
{
|
|
if (_detected_protocol != AP_RCProtocol::NONE) {
|
|
backend[_detected_protocol]->read(pwm, n);
|
|
}
|
|
}
|
|
|
|
int16_t AP_RCProtocol::get_RSSI(void) const
|
|
{
|
|
if (_detected_protocol != AP_RCProtocol::NONE) {
|
|
return backend[_detected_protocol]->get_RSSI();
|
|
}
|
|
return -1;
|
|
}
|
|
int16_t AP_RCProtocol::get_rx_link_quality(void) const
|
|
{
|
|
if (_detected_protocol != AP_RCProtocol::NONE) {
|
|
return backend[_detected_protocol]->get_rx_link_quality();
|
|
}
|
|
return -1;
|
|
}
|
|
/*
|
|
ask for bind start on supported receivers (eg spektrum satellite)
|
|
*/
|
|
void AP_RCProtocol::start_bind(void)
|
|
{
|
|
for (uint8_t i = 0; i < AP_RCProtocol::NONE; i++) {
|
|
if (backend[i] != nullptr) {
|
|
backend[i]->start_bind();
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
return protocol name
|
|
*/
|
|
const char *AP_RCProtocol::protocol_name_from_protocol(rcprotocol_t protocol)
|
|
{
|
|
switch (protocol) {
|
|
case PPM:
|
|
return "PPM";
|
|
case IBUS:
|
|
return "IBUS";
|
|
case SBUS:
|
|
case SBUS_NI:
|
|
return "SBUS";
|
|
case DSM:
|
|
return "DSM";
|
|
case SUMD:
|
|
return "SUMD";
|
|
case SRXL:
|
|
return "SRXL";
|
|
case SRXL2:
|
|
return "SRXL2";
|
|
case CRSF:
|
|
return "CRSF";
|
|
case ST24:
|
|
return "ST24";
|
|
case FPORT:
|
|
return "FPORT";
|
|
case FPORT2:
|
|
return "FPORT2";
|
|
case NONE:
|
|
break;
|
|
}
|
|
return nullptr;
|
|
}
|
|
|
|
/*
|
|
return protocol name
|
|
*/
|
|
const char *AP_RCProtocol::protocol_name(void) const
|
|
{
|
|
return protocol_name_from_protocol(_detected_protocol);
|
|
}
|
|
|
|
/*
|
|
add a uart to decode
|
|
*/
|
|
void AP_RCProtocol::add_uart(AP_HAL::UARTDriver* uart)
|
|
{
|
|
added.uart = uart;
|
|
// start with DSM
|
|
added.baudrate = 115200U;
|
|
}
|
|
|
|
// return true if a specific protocol is enabled
|
|
bool AP_RCProtocol::protocol_enabled(rcprotocol_t protocol) const
|
|
{
|
|
if ((rc_protocols_mask & 1) != 0) {
|
|
// all protocols enabled
|
|
return true;
|
|
}
|
|
return ((1U<<(uint8_t(protocol)+1)) & rc_protocols_mask) != 0;
|
|
}
|
|
|
|
namespace AP {
|
|
AP_RCProtocol &RC()
|
|
{
|
|
static AP_RCProtocol rcprot;
|
|
return rcprot;
|
|
}
|
|
};
|