mirror of https://github.com/ArduPilot/ardupilot
295 lines
7.2 KiB
C++
295 lines
7.2 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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* 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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#include <AP_HAL/AP_HAL.h>
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#include <AP_Common/AP_Common.h>
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#if AP_RCPROTOCOL_MAVLINK_RADIO_ENABLED
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#endif
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#define MAX_RCIN_CHANNELS 18
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#define MIN_RCIN_CHANNELS 5
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class AP_RCProtocol_Backend;
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class AP_RCProtocol {
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public:
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enum rcprotocol_t {
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#if AP_RCPROTOCOL_PPMSUM_ENABLED
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PPMSUM = 0,
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#endif
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#if AP_RCPROTOCOL_IBUS_ENABLED
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IBUS = 1,
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#endif
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#if AP_RCPROTOCOL_SBUS_ENABLED
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SBUS = 2,
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#endif
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#if AP_RCPROTOCOL_SBUS_NI_ENABLED
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SBUS_NI = 3,
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#endif
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#if AP_RCPROTOCOL_DSM_ENABLED
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DSM = 4,
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#endif
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#if AP_RCPROTOCOL_SUMD_ENABLED
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SUMD = 5,
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#endif
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#if AP_RCPROTOCOL_SRXL_ENABLED
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SRXL = 6,
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#endif
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#if AP_RCPROTOCOL_SRXL2_ENABLED
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SRXL2 = 7,
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#endif
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#if AP_RCPROTOCOL_CRSF_ENABLED
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CRSF = 8,
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#endif
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#if AP_RCPROTOCOL_ST24_ENABLED
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ST24 = 9,
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#endif
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#if AP_RCPROTOCOL_FPORT_ENABLED
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FPORT = 10,
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#endif
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#if AP_RCPROTOCOL_FPORT2_ENABLED
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FPORT2 = 11,
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#endif
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#if AP_RCPROTOCOL_FASTSBUS_ENABLED
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FASTSBUS = 12,
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#endif
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#if AP_RCPROTOCOL_DRONECAN_ENABLED
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DRONECAN = 13,
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#endif
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#if AP_RCPROTOCOL_GHST_ENABLED
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GHST = 14,
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#endif
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#if AP_RCPROTOCOL_MAVLINK_RADIO_ENABLED
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MAVLINK_RADIO = 15,
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#endif
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#if AP_RCPROTOCOL_JOYSTICK_SFML_ENABLED
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JOYSTICK_SFML = 16,
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#endif
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#if AP_RCPROTOCOL_UDP_ENABLED
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UDP = 17,
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#endif
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#if AP_RCPROTOCOL_FDM_ENABLED
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FDM = 18,
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#endif
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#if AP_RCPROTOCOL_RADIO_ENABLED
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RADIO = 19,
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#endif
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NONE //last enum always is None
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};
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// return protocol name as a string
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static const char *protocol_name_from_protocol(rcprotocol_t protocol);
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#if AP_RCPROTOCOL_ENABLED
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AP_RCProtocol() {}
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~AP_RCProtocol();
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friend class AP_RCProtocol_Backend;
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void init();
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bool valid_serial_prot() const
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{
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return _valid_serial_prot;
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}
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bool should_search(uint32_t now_ms) const;
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void process_pulse(uint32_t width_s0, uint32_t width_s1);
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void process_pulse_list(const uint32_t *widths, uint16_t n, bool need_swap);
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bool process_byte(uint8_t byte, uint32_t baudrate);
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void process_handshake(uint32_t baudrate);
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void update(void);
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bool failsafe_active() const {
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return _failsafe_active;
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}
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void set_failsafe_active(bool active) {
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_failsafe_active = active;
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}
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void disable_for_pulses(enum rcprotocol_t protocol) {
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_disabled_for_pulses |= (1U<<(uint8_t)protocol);
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}
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// in the case we've disabled most backends then the "return true" in
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// the following method can never be reached, and the compiler gets
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// annoyed at that.
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wswitch-unreachable"
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// for protocols without strong CRCs we require 3 good frames to lock on
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bool requires_3_frames(enum rcprotocol_t p) {
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switch (p) {
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#if AP_RCPROTOCOL_DSM_ENABLED
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case DSM:
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#endif
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#if AP_RCPROTOCOL_FASTSBUS_ENABLED
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case FASTSBUS:
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#endif
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#if AP_RCPROTOCOL_SBUS_ENABLED
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case SBUS:
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#endif
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#if AP_RCPROTOCOL_SBUS_NI_ENABLED
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case SBUS_NI:
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#endif
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#if AP_RCPROTOCOL_PPMSUM_ENABLED
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case PPMSUM:
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#endif
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#if AP_RCPROTOCOL_FPORT_ENABLED
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case FPORT:
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#endif
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#if AP_RCPROTOCOL_FPORT2_ENABLED
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case FPORT2:
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#endif
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#if AP_RCPROTOCOL_CRSF_ENABLED
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case CRSF:
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#endif
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#if AP_RCPROTOCOL_GHST_ENABLED
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case GHST:
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#endif
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return true;
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#if AP_RCPROTOCOL_IBUS_ENABLED
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case IBUS:
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#endif
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#if AP_RCPROTOCOL_SUMD_ENABLED
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case SUMD:
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#endif
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#if AP_RCPROTOCOL_SRXL_ENABLED
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case SRXL:
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#endif
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#if AP_RCPROTOCOL_SRXL2_ENABLED
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case SRXL2:
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#endif
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#if AP_RCPROTOCOL_ST24_ENABLED
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case ST24:
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#endif
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#if AP_RCPROTOCOL_DRONECAN_ENABLED
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case DRONECAN:
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#endif
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#if AP_RCPROTOCOL_MAVLINK_RADIO_ENABLED
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case MAVLINK_RADIO:
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#endif
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#if AP_RCPROTOCOL_JOYSTICK_SFML_ENABLED
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case JOYSTICK_SFML:
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#endif
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#if AP_RCPROTOCOL_UDP_ENABLED
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case UDP:
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#endif
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#if AP_RCPROTOCOL_FDM_ENABLED
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case FDM:
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#endif
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#if AP_RCPROTOCOL_RADIO_ENABLED
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case RADIO:
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#endif
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case NONE:
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return false;
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}
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return false;
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}
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#pragma GCC diagnostic pop
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uint8_t num_channels();
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uint16_t read(uint8_t chan);
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void read(uint16_t *pwm, uint8_t n);
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bool new_input();
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void start_bind(void);
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int16_t get_RSSI(void) const;
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int16_t get_rx_link_quality(void) const;
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// return protocol name as a string
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const char *protocol_name(void) const;
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// return detected protocol
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enum rcprotocol_t protocol_detected(void) const {
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return _detected_protocol;
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}
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// add a UART for RCIN
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void add_uart(AP_HAL::UARTDriver* uart);
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bool has_uart() const { return added.uart != nullptr; }
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// set allowed RC protocols
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void set_rc_protocols(uint32_t mask) {
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rc_protocols_mask = mask;
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}
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class SerialConfig {
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public:
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void apply_to_uart(AP_HAL::UARTDriver *uart) const;
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uint32_t baud;
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uint8_t parity;
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uint8_t stop_bits;
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bool invert_rx;
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};
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// return true if we are decoding a byte stream, instead of pulses
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bool using_uart(void) const {
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return _detected_with_bytes;
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}
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// handle mavlink radio
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#if AP_RCPROTOCOL_MAVLINK_RADIO_ENABLED
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void handle_radio_rc_channels(const mavlink_radio_rc_channels_t* packet);
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#endif
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private:
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void check_added_uart(void);
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// return true if a specific protocol is enabled
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bool protocol_enabled(enum rcprotocol_t protocol) const;
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// explicitly investigate a backend for data, as opposed to
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// feeding the backend a byte (or pulse-train) at a time and
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// having them make an "add_input" callback):
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bool detect_async_protocol(rcprotocol_t protocol);
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enum rcprotocol_t _detected_protocol = NONE;
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uint16_t _disabled_for_pulses;
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bool _detected_with_bytes;
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AP_RCProtocol_Backend *backend[NONE];
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bool _new_input;
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uint32_t _last_input_ms;
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bool _failsafe_active;
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bool _valid_serial_prot;
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// optional additional uart
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struct {
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AP_HAL::UARTDriver *uart;
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bool opened;
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uint32_t last_config_change_ms;
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uint8_t config_num;
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} added;
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// allowed RC protocols mask (first bit means "all")
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uint32_t rc_protocols_mask;
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#endif // AP_RCPROTCOL_ENABLED
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};
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#if AP_RCPROTOCOL_ENABLED
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namespace AP {
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AP_RCProtocol &RC();
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};
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#include "AP_RCProtocol_Backend.h"
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#endif // AP_RCProtocol_enabled
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