mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 14:38:30 -04:00
bbcc31ecec
Of particular note this removes the partial SUMH support. This has been broken as far back as 2018, as we only called add_input() if we were in the SUMD or SUMD failsafe cases, which meant SUMH didn't work. This commits to that path, and removes all the 8 bit CRC, SUMH support. This also refactors a number of things for readability (condensing white space, simplifying guards around debug code). Many of the debugs could probably be removed, but this simplifies it. This was tested against the RCProtocol example test, and everything there reports a pass.
65 lines
2.1 KiB
C++
65 lines
2.1 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_config.h"
|
|
|
|
#if AP_RCPROTOCOL_SUMD_ENABLED
|
|
|
|
#include "AP_RCProtocol_Backend.h"
|
|
#include "SoftSerial.h"
|
|
|
|
#define SUMD_MAX_CHANNELS 32
|
|
#define SUMD_FRAME_MAXLEN 40
|
|
class AP_RCProtocol_SUMD : public AP_RCProtocol_Backend {
|
|
public:
|
|
AP_RCProtocol_SUMD(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;
|
|
|
|
private:
|
|
void _process_byte(uint32_t timestamp_us, uint8_t byte);
|
|
|
|
typedef struct {
|
|
uint8_t status; ///< 0x01 valid and live SUMD data frame / 0x00 = SUMH / 0x81 = Failsafe
|
|
uint8_t length; ///< Channels
|
|
uint8_t sumd_data[(SUMD_MAX_CHANNELS+1) * 2]; ///< ChannelData (High Byte/ Low Byte)
|
|
uint8_t crc16_high; ///< High Byte of 16 Bit CRC
|
|
} ReceiverFcPacketHoTT;
|
|
|
|
|
|
enum SUMD_DECODE_STATE {
|
|
SUMD_DECODE_STATE_UNSYNCED = 0,
|
|
SUMD_DECODE_STATE_GOT_HEADER,
|
|
SUMD_DECODE_STATE_GOT_STATE,
|
|
SUMD_DECODE_STATE_GOT_LEN,
|
|
SUMD_DECODE_STATE_GOT_DATA,
|
|
SUMD_DECODE_STATE_GOT_CRC,
|
|
};
|
|
|
|
enum SUMD_DECODE_STATE _decode_state = SUMD_DECODE_STATE_UNSYNCED;
|
|
uint8_t _rxlen;
|
|
ReceiverFcPacketHoTT _rxpacket;
|
|
uint16_t _crc16;
|
|
uint32_t last_packet_us;
|
|
|
|
SoftSerial ss{115200, SoftSerial::SERIAL_CONFIG_8N1};
|
|
};
|
|
|
|
#endif // AP_RCPROTOCOL_SUMD_ENABLED
|