mirror of https://github.com/ArduPilot/ardupilot
222 lines
6.9 KiB
C++
222 lines
6.9 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_RCProtocol_config.h"
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#if AP_RCPROTOCOL_ENABLED
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#include "AP_RCProtocol.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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#include <AP_Vehicle/AP_Vehicle_Type.h>
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#include <AP_Logger/AP_Logger.h>
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#include <AP_VideoTX/AP_VideoTX_config.h>
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// for video TX configuration:
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#if AP_VIDEOTX_ENABLED
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#include <AP_VideoTX/AP_VideoTX.h>
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#include "spm_srxl.h"
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#endif
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AP_RCProtocol_Backend::AP_RCProtocol_Backend(AP_RCProtocol &_frontend) :
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frontend(_frontend),
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rc_input_count(0),
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last_rc_input_count(0),
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_num_channels(0)
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{}
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bool AP_RCProtocol_Backend::new_input()
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{
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bool ret = rc_input_count != last_rc_input_count;
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if (ret) {
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last_rc_input_count = rc_input_count;
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}
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return ret;
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}
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uint8_t AP_RCProtocol_Backend::num_channels() const
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{
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return _num_channels;
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}
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uint16_t AP_RCProtocol_Backend::read(uint8_t chan)
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{
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return _pwm_values[chan];
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}
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void AP_RCProtocol_Backend::read(uint16_t *pwm, uint8_t n)
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{
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if (n >= MAX_RCIN_CHANNELS) {
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n = MAX_RCIN_CHANNELS;
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}
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memcpy(pwm, _pwm_values, n*sizeof(pwm[0]));
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}
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/*
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provide input from a backend
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*/
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void AP_RCProtocol_Backend::add_input(uint8_t num_values, uint16_t *values, bool in_failsafe, int16_t _rssi, int16_t _rx_link_quality)
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{
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num_values = MIN(num_values, MAX_RCIN_CHANNELS);
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memcpy(_pwm_values, values, num_values*sizeof(uint16_t));
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_num_channels = num_values;
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rc_frame_count++;
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frontend.set_failsafe_active(in_failsafe);
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#if !AP_RC_CHANNEL_ENABLED
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// failsafed is sorted out in AP_IOMCU.cpp
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in_failsafe = false;
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#else
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if (rc().option_is_enabled(RC_Channels::Option::IGNORE_FAILSAFE)) {
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in_failsafe = false;
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}
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#endif
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if (!in_failsafe) {
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rc_input_count++;
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}
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rssi = _rssi;
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rx_link_quality = _rx_link_quality;
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}
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/*
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decode channels from the standard 11bit format (used by CRSF, SBUS, FPort and FPort2)
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must be used on multiples of 8 channels
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*/
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void AP_RCProtocol_Backend::decode_11bit_channels(const uint8_t* data, uint8_t nchannels, uint16_t *values, uint16_t mult, uint16_t div, uint16_t offset)
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{
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#define CHANNEL_SCALE(x) ((int32_t(x) * mult) / div + offset)
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while (nchannels >= 8) {
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const Channels11Bit_8Chan* channels = (const Channels11Bit_8Chan*)data;
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values[0] = CHANNEL_SCALE(channels->ch0);
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values[1] = CHANNEL_SCALE(channels->ch1);
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values[2] = CHANNEL_SCALE(channels->ch2);
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values[3] = CHANNEL_SCALE(channels->ch3);
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values[4] = CHANNEL_SCALE(channels->ch4);
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values[5] = CHANNEL_SCALE(channels->ch5);
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values[6] = CHANNEL_SCALE(channels->ch6);
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values[7] = CHANNEL_SCALE(channels->ch7);
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nchannels -= 8;
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data += sizeof(*channels);
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values += 8;
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}
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}
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#if AP_VIDEOTX_ENABLED
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// configure the video transmitter, the input values are Spektrum-oriented
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void AP_RCProtocol_Backend::configure_vtx(uint8_t band, uint8_t channel, uint8_t power, uint8_t pitmode)
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{
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AP_VideoTX& vtx = AP::vtx();
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// VTX Band (0 = Fatshark, 1 = Raceband, 2 = E, 3 = B, 4 = A)
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// map to TBS band A, B, E, Race, Airwave, LoRace
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switch (band) {
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case VTX_BAND_FATSHARK:
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vtx.set_configured_band(AP_VideoTX::VideoBand::FATSHARK);
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break;
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case VTX_BAND_RACEBAND:
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vtx.set_configured_band(AP_VideoTX::VideoBand::RACEBAND);
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break;
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case VTX_BAND_E_BAND:
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vtx.set_configured_band(AP_VideoTX::VideoBand::BAND_E);
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break;
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case VTX_BAND_B_BAND:
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vtx.set_configured_band(AP_VideoTX::VideoBand::BAND_B);
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break;
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case VTX_BAND_A_BAND:
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vtx.set_configured_band(AP_VideoTX::VideoBand::BAND_A);
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break;
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default:
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break;
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}
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// VTX Channel (0-7)
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vtx.set_configured_channel(channel);
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if (pitmode) {
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vtx.set_configured_options(vtx.get_options() | uint8_t(AP_VideoTX::VideoOptions::VTX_PITMODE));
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} else {
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vtx.set_configured_options(vtx.get_options() & ~uint8_t(AP_VideoTX::VideoOptions::VTX_PITMODE));
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}
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switch (power) {
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case VTX_POWER_1MW_14MW:
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case VTX_POWER_15MW_25MW:
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vtx.set_configured_power_mw(25);
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break;
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case VTX_POWER_26MW_99MW:
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case VTX_POWER_100MW_299MW:
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vtx.set_configured_power_mw(100);
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break;
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case VTX_POWER_300MW_600MW:
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vtx.set_configured_power_mw(400);
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break;
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case VTX_POWER_601_PLUS:
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vtx.set_configured_power_mw(800);
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break;
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default:
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break;
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}
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}
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#endif // AP_VIDEOTX_ENABLED
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/*
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optionally log RC input data
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*/
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void AP_RCProtocol_Backend::log_data(AP_RCProtocol::rcprotocol_t prot, uint32_t timestamp, const uint8_t *data, uint8_t len) const
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{
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#if HAL_LOGGING_ENABLED && AP_RC_CHANNEL_ENABLED
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#if (CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX)
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if (RC_Channels::get_singleton() == nullptr) { // allow running without RC_Channels if we are doing the examples
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return;
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}
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#endif
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if (rc().option_is_enabled(RC_Channels::Option::LOG_RAW_DATA)) {
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uint32_t u32[10] {};
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if (len > sizeof(u32)) {
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len = sizeof(u32);
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}
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memcpy(u32, data, len);
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// @LoggerMessage: RCDA
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// @Description: Raw RC data
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// @Field: TimeUS: Time since system startup
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// @Field: TS: data arrival timestamp
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// @Field: Prot: Protocol currently being decoded
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// @Field: Len: Number of valid bytes in message
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// @Field: U0: first quartet of bytes
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// @Field: U1: second quartet of bytes
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// @Field: U2: third quartet of bytes
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// @Field: U3: fourth quartet of bytes
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// @Field: U4: fifth quartet of bytes
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// @Field: U5: sixth quartet of bytes
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// @Field: U6: seventh quartet of bytes
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// @Field: U7: eight quartet of bytes
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// @Field: U8: ninth quartet of bytes
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// @Field: U9: tenth quartet of bytes
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AP::logger().WriteStreaming("RCDA", "TimeUS,TS,Prot,Len,U0,U1,U2,U3,U4,U5,U6,U7,U8,U9", "QIBBIIIIIIIIII",
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AP_HAL::micros64(),
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timestamp,
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(uint8_t)prot,
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len,
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u32[0], u32[1], u32[2], u32[3], u32[4],
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u32[5], u32[6], u32[7], u32[8], u32[9]);
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}
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#endif // HAL_LOGGING_ENABLED && AP_RC_CHANNEL_ENABLED
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}
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#endif // AP_RCPROTOCOL_ENABLED
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