mirror of https://github.com/ArduPilot/ardupilot
69 lines
2.0 KiB
C++
69 lines
2.0 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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#pragma once
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#include "AP_RCProtocol_config.h"
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#if AP_RCPROTOCOL_FPORT_ENABLED
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#include "AP_RCProtocol.h"
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#include "SoftSerial.h"
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#include <AP_Frsky_Telem/AP_Frsky_SPort.h>
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#define FPORT_CONTROL_FRAME_SIZE 29
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struct FPort_Frame;
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class AP_RCProtocol_FPort : public AP_RCProtocol_Backend {
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public:
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AP_RCProtocol_FPort(AP_RCProtocol &_frontend, bool inverted);
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void process_pulse(uint32_t width_s0, uint32_t width_s1) override;
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void process_byte(uint8_t byte, uint32_t baudrate) override;
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private:
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void decode_control(const FPort_Frame &frame);
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void decode_downlink(const FPort_Frame &frame);
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bool check_checksum(void);
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void _process_byte(uint32_t timestamp_us, uint8_t byte);
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SoftSerial ss{115200, SoftSerial::SERIAL_CONFIG_8N1};
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uint32_t saved_width;
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struct {
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uint8_t buf[FPORT_CONTROL_FRAME_SIZE];
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uint8_t ofs;
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uint32_t last_byte_us;
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bool got_DLE;
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} byte_input;
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const bool inverted;
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struct {
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bool available = false;
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AP_Frsky_SPort::sport_packet_t packet;
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} telem_data;
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// receiver sends 0x10 when ready to receive telemetry frames (R-XSR)
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bool rx_driven_frame_rate = false;
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// if the receiver is not controlling frame rate apply a constraint on consecutive frames
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uint8_t consecutive_telemetry_frame_count;
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};
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#endif // AP_RCPROTOCOL_FPORT_ENABLED
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