ardupilot/libraries/AP_RCProtocol/AP_RCProtocol.h

100 lines
2.7 KiB
C++

/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Code by Andrew Tridgell and Siddharth Bharat Purohit
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_Common/AP_Common.h>
#define MAX_RCIN_CHANNELS 32
#define MIN_RCIN_CHANNELS 5
class AP_RCProtocol_Backend;
class AP_RCProtocol {
public:
AP_RCProtocol() {
_singleton = this;
}
~AP_RCProtocol();
enum rcprotocol_t {
PPM = 0,
SBUS,
SBUS_NI,
DSM,
SUMD,
SRXL,
ST24,
NONE //last enum always is None
};
void init();
bool valid_serial_prot()
{
return _valid_serial_prot;
}
void process_pulse(uint32_t width_s0, uint32_t width_s1);
void process_pulse_list(const uint32_t *widths, uint16_t n, bool need_swap);
void process_byte(uint8_t byte, uint32_t baudrate);
void disable_for_pulses(enum rcprotocol_t protocol) {
_disabled_for_pulses |= (1U<<(uint8_t)protocol);
}
// for protocols without strong CRCs we require 3 good frames to lock on
bool requires_3_frames(enum rcprotocol_t p) {
return (p == DSM || p == SBUS || p == SBUS_NI || p == PPM);
}
enum rcprotocol_t protocol_detected()
{
return _detected_protocol;
}
uint8_t num_channels();
uint16_t read(uint8_t chan);
bool new_input();
void start_bind(void);
// return protocol name as a string
static const char *protocol_name_from_protocol(rcprotocol_t protocol);
// return protocol name as a string
const char *protocol_name(void) const;
// return protocol name as a string
enum rcprotocol_t protocol_detected(void) const {
return _detected_protocol;
}
// access to singleton
static AP_RCProtocol *get_singleton(void) {
return _singleton;
}
private:
enum rcprotocol_t _detected_protocol = NONE;
uint16_t _disabled_for_pulses;
bool _detected_with_bytes;
AP_RCProtocol_Backend *backend[NONE];
bool _new_input = false;
uint32_t _last_input_ms;
bool _valid_serial_prot = false;
uint8_t _good_frames[NONE];
static AP_RCProtocol *_singleton;
};
#include "AP_RCProtocol_Backend.h"