mirror of https://github.com/ArduPilot/ardupilot
65 lines
2.1 KiB
C++
65 lines
2.1 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_SUMD_ENABLED
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#include "AP_RCProtocol_Backend.h"
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#include "SoftSerial.h"
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#define SUMD_MAX_CHANNELS 32
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#define SUMD_FRAME_MAXLEN 40
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class AP_RCProtocol_SUMD : public AP_RCProtocol_Backend {
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public:
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AP_RCProtocol_SUMD(AP_RCProtocol &_frontend) : AP_RCProtocol_Backend(_frontend) {}
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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 _process_byte(uint32_t timestamp_us, uint8_t byte);
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typedef struct {
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uint8_t status; ///< 0x01 valid and live SUMD data frame / 0x00 = SUMH / 0x81 = Failsafe
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uint8_t length; ///< Channels
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uint8_t sumd_data[(SUMD_MAX_CHANNELS+1) * 2]; ///< ChannelData (High Byte/ Low Byte)
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uint8_t crc16_high; ///< High Byte of 16 Bit CRC
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} ReceiverFcPacketHoTT;
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enum SUMD_DECODE_STATE {
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SUMD_DECODE_STATE_UNSYNCED = 0,
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SUMD_DECODE_STATE_GOT_HEADER,
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SUMD_DECODE_STATE_GOT_STATE,
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SUMD_DECODE_STATE_GOT_LEN,
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SUMD_DECODE_STATE_GOT_DATA,
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SUMD_DECODE_STATE_GOT_CRC,
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};
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enum SUMD_DECODE_STATE _decode_state = SUMD_DECODE_STATE_UNSYNCED;
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uint8_t _rxlen;
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ReceiverFcPacketHoTT _rxpacket;
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uint16_t _crc16;
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uint32_t last_packet_us;
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SoftSerial ss{115200, SoftSerial::SERIAL_CONFIG_8N1};
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};
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#endif // AP_RCPROTOCOL_SUMD_ENABLED
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