ardupilot/libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp

142 lines
4.5 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
*/
#include "AP_RCProtocol.h"
#include <AP_Math/AP_Math.h>
#include <RC_Channel/RC_Channel.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include <AP_Logger/AP_Logger.h>
AP_RCProtocol_Backend::AP_RCProtocol_Backend(AP_RCProtocol &_frontend) :
frontend(_frontend),
rc_input_count(0),
last_rc_input_count(0),
_num_channels(0)
{}
bool AP_RCProtocol_Backend::new_input()
{
bool ret = rc_input_count != last_rc_input_count;
if (ret) {
last_rc_input_count = rc_input_count;
}
return ret;
}
uint8_t AP_RCProtocol_Backend::num_channels() const
{
return _num_channels;
}
uint16_t AP_RCProtocol_Backend::read(uint8_t chan)
{
return _pwm_values[chan];
}
void AP_RCProtocol_Backend::read(uint16_t *pwm, uint8_t n)
{
if (n >= MAX_RCIN_CHANNELS) {
n = MAX_RCIN_CHANNELS;
}
memcpy(pwm, _pwm_values, n*sizeof(pwm[0]));
}
/*
provide input from a backend
*/
void AP_RCProtocol_Backend::add_input(uint8_t num_values, uint16_t *values, bool in_failsafe, int16_t _rssi, int16_t _rx_link_quality)
{
num_values = MIN(num_values, MAX_RCIN_CHANNELS);
memcpy(_pwm_values, values, num_values*sizeof(uint16_t));
_num_channels = num_values;
rc_frame_count++;
#if !APM_BUILD_TYPE(APM_BUILD_iofirmware)
if (rc().ignore_rc_failsafe()) {
in_failsafe = false;
}
#endif
if (!in_failsafe) {
rc_input_count++;
}
rssi = _rssi;
rx_link_quality = _rx_link_quality;
}
/*
decode channels from the standard 11bit format (used by CRSF, SBUS, FPort and FPort2)
must be used on multiples of 8 channels
*/
void AP_RCProtocol_Backend::decode_11bit_channels(const uint8_t* data, uint8_t nchannels, uint16_t *values, uint16_t mult, uint16_t div, uint16_t offset)
{
#define CHANNEL_SCALE(x) ((int32_t(x) * mult) / div + offset)
while (nchannels >= 8) {
const Channels11Bit_8Chan* channels = (const Channels11Bit_8Chan*)data;
values[0] = CHANNEL_SCALE(channels->ch0);
values[1] = CHANNEL_SCALE(channels->ch1);
values[2] = CHANNEL_SCALE(channels->ch2);
values[3] = CHANNEL_SCALE(channels->ch3);
values[4] = CHANNEL_SCALE(channels->ch4);
values[5] = CHANNEL_SCALE(channels->ch5);
values[6] = CHANNEL_SCALE(channels->ch6);
values[7] = CHANNEL_SCALE(channels->ch7);
nchannels -= 8;
data += sizeof(*channels);
values += 8;
}
}
/*
optionally log RC input data
*/
void AP_RCProtocol_Backend::log_data(AP_RCProtocol::rcprotocol_t prot, uint32_t timestamp, const uint8_t *data, uint8_t len) const
{
#if !APM_BUILD_TYPE(APM_BUILD_iofirmware) && !APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
if (rc().log_raw_data()) {
uint32_t u32[10] {};
if (len > sizeof(u32)) {
len = sizeof(u32);
}
memcpy(u32, data, len);
// @LoggerMessage: RCDA
// @Description: Raw RC data
// @Field: TimeUS: Time since system startup
// @Field: TS: data arrival timestamp
// @Field: Prot: Protocol currently being decoded
// @Field: Len: Number of valid bytes in message
// @Field: U0: first quartet of bytes
// @Field: U1: second quartet of bytes
// @Field: U2: third quartet of bytes
// @Field: U3: fourth quartet of bytes
// @Field: U4: fifth quartet of bytes
// @Field: U5: sixth quartet of bytes
// @Field: U6: seventh quartet of bytes
// @Field: U7: eight quartet of bytes
// @Field: U8: ninth quartet of bytes
// @Field: U9: tenth quartet of bytes
AP::logger().Write("RCDA", "TimeUS,TS,Prot,Len,U0,U1,U2,U3,U4,U5,U6,U7,U8,U9", "QIBBIIIIIIIIII",
AP_HAL::micros64(),
timestamp,
(uint8_t)prot,
len,
u32[0], u32[1], u32[2], u32[3], u32[4],
u32[5], u32[6], u32[7], u32[8], u32[9]);
}
#endif
}