mirror of https://github.com/ArduPilot/ardupilot
122 lines
3.8 KiB
C++
122 lines
3.8 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.h"
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#include <AP_HAL/utility/sparse-endian.h>
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class AP_RCProtocol_Backend {
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friend class AP_RCProtcol;
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public:
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AP_RCProtocol_Backend(AP_RCProtocol &_frontend);
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virtual ~AP_RCProtocol_Backend() {}
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virtual void process_pulse(uint32_t width_s0, uint32_t width_s1) {}
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virtual void process_byte(uint8_t byte, uint32_t baudrate) {}
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virtual void process_handshake(uint32_t baudrate) {}
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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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uint8_t num_channels() const;
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// support for receivers that have FC initiated bind support
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virtual void start_bind(void) {}
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// allow for backends that need regular polling
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virtual void update(void) {}
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enum {
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PARSE_TYPE_SIGREAD,
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PARSE_TYPE_SERIAL
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};
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// get number of frames, ignoring failsafe
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uint32_t get_rc_frame_count(void) const {
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return rc_frame_count;
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}
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// reset valid rc frame count
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void reset_rc_frame_count(void) {
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rc_frame_count = 0;
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}
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// get number of frames, honoring failsafe
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uint32_t get_rc_input_count(void) const {
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return rc_input_count;
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}
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uint32_t get_rc_protocols_mask(void) const {
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return frontend.rc_protocols_mask;
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}
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// get RSSI
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int16_t get_RSSI(void) const {
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return rssi;
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}
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int16_t get_rx_link_quality(void) const {
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return rx_link_quality;
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}
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// get UART for RCIN, if available. This will return false if we
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// aren't getting the active RC input protocol via the uart
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AP_HAL::UARTDriver *get_UART(void) const {
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return frontend._detected_with_bytes?frontend.added.uart:nullptr;
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}
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// get an available uart regardless of whether we have detected a protocol via it
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AP_HAL::UARTDriver *get_available_UART(void) const {
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return frontend.added.uart;
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}
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// return true if we have a uart available for protocol handling.
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bool have_UART(void) const {
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return frontend.added.uart != nullptr;
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}
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protected:
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struct Channels11Bit_8Chan {
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#if __BYTE_ORDER != __LITTLE_ENDIAN
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#error "Only supported on little-endian architectures"
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#endif
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uint32_t ch0 : 11;
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uint32_t ch1 : 11;
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uint32_t ch2 : 11;
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uint32_t ch3 : 11;
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uint32_t ch4 : 11;
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uint32_t ch5 : 11;
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uint32_t ch6 : 11;
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uint32_t ch7 : 11;
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} PACKED;
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void add_input(uint8_t num_channels, uint16_t *values, bool in_failsafe, int16_t rssi=-1, int16_t rx_link_quality=-1);
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AP_RCProtocol &frontend;
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void log_data(AP_RCProtocol::rcprotocol_t prot, uint32_t timestamp, const uint8_t *data, uint8_t len) const;
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// decode channels from the standard 11bit format (used by CRSF and SBUS)
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void 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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private:
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uint32_t rc_input_count;
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uint32_t last_rc_input_count;
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uint32_t rc_frame_count;
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uint16_t _pwm_values[MAX_RCIN_CHANNELS];
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uint8_t _num_channels;
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int16_t rssi = -1;
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int16_t rx_link_quality = -1;
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};
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