ardupilot/libraries/AP_RCProtocol/AP_RCProtocol.h

194 lines
4.9 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_RCProtocol_config.h"
#include <AP_HAL/AP_HAL.h>
#include <AP_Common/AP_Common.h>
#define MAX_RCIN_CHANNELS 18
#define MIN_RCIN_CHANNELS 5
#ifndef AP_RCPROTOCOL_FASTSBUS_ENABLED
#ifdef IOMCU_FW
#define AP_RCPROTOCOL_FASTSBUS_ENABLED 0
#else
#define AP_RCPROTOCOL_FASTSBUS_ENABLED 1
#endif
#endif
class AP_RCProtocol_Backend;
class AP_RCProtocol {
public:
AP_RCProtocol() {}
~AP_RCProtocol();
friend class AP_RCProtocol_Backend;
enum rcprotocol_t {
PPM = 0,
IBUS = 1,
SBUS = 2,
SBUS_NI = 3,
DSM = 4,
SUMD = 5,
SRXL = 6,
SRXL2 = 7,
CRSF = 8,
ST24 = 9,
#if AP_RCPROTOCOL_FPORT_ENABLED
FPORT = 10,
#endif
#if AP_RCPROTOCOL_FPORT2_ENABLED
FPORT2 = 11,
#endif
#if AP_RCPROTOCOL_FASTSBUS_ENABLED
FASTSBUS = 12,
#endif
NONE //last enum always is None
};
void init();
bool valid_serial_prot() const
{
return _valid_serial_prot;
}
bool should_search(uint32_t now_ms) const;
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);
bool process_byte(uint8_t byte, uint32_t baudrate);
void process_handshake(uint32_t baudrate);
void update(void);
bool failsafe_active() const {
return _failsafe_active;
}
void set_failsafe_active(bool active) {
_failsafe_active = active;
}
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) {
switch (p) {
case DSM:
#if AP_RCPROTOCOL_FASTSBUS_ENABLED
case FASTSBUS:
#endif
case SBUS:
case SBUS_NI:
case PPM:
#if AP_RCPROTOCOL_FPORT_ENABLED
case FPORT:
#endif
#if AP_RCPROTOCOL_FPORT2_ENABLED
case FPORT2:
#endif
return true;
case IBUS:
case SUMD:
case SRXL:
case SRXL2:
case CRSF:
case ST24:
case NONE:
return false;
}
return false;
}
uint8_t num_channels();
uint16_t read(uint8_t chan);
void read(uint16_t *pwm, uint8_t n);
bool new_input();
void start_bind(void);
int16_t get_RSSI(void) const;
int16_t get_rx_link_quality(void) const;
// 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 detected protocol
enum rcprotocol_t protocol_detected(void) const {
return _detected_protocol;
}
// add a UART for RCIN
void add_uart(AP_HAL::UARTDriver* uart);
bool has_uart() const { return added.uart != nullptr; }
#ifdef IOMCU_FW
// set allowed RC protocols
void set_rc_protocols(uint32_t mask) {
rc_protocols_mask = mask;
}
#endif
class SerialConfig {
public:
void apply_to_uart(AP_HAL::UARTDriver *uart) const;
uint32_t baud;
uint8_t parity;
uint8_t stop_bits;
bool invert_rx;
};
// return true if we are decoding a byte stream, instead of pulses
bool using_uart(void) const {
return _detected_with_bytes;
}
private:
void check_added_uart(void);
// return true if a specific protocol is enabled
bool protocol_enabled(enum rcprotocol_t protocol) const;
enum rcprotocol_t _detected_protocol = NONE;
uint16_t _disabled_for_pulses;
bool _detected_with_bytes;
AP_RCProtocol_Backend *backend[NONE];
bool _new_input;
uint32_t _last_input_ms;
bool _failsafe_active;
bool _valid_serial_prot;
// optional additional uart
struct {
AP_HAL::UARTDriver *uart;
bool opened;
uint32_t last_config_change_ms;
uint8_t config_num;
} added;
// allowed RC protocols mask (first bit means "all")
uint32_t rc_protocols_mask;
};
namespace AP {
AP_RCProtocol &RC();
};
#include "AP_RCProtocol_Backend.h"