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79 lines
2.5 KiB
79 lines
2.5 KiB
/* |
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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 "SoftSerial.h" |
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#define AP_DSM_MAX_CHANNELS 12 |
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class AP_RCProtocol_DSM : public AP_RCProtocol_Backend { |
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public: |
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AP_RCProtocol_DSM(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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void start_bind(void) override; |
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void update(void) override; |
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private: |
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void _process_byte(uint32_t timestamp_ms, uint8_t byte); |
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void dsm_decode(); |
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bool dsm_decode_channel(uint16_t raw, unsigned shift, unsigned *channel, unsigned *value); |
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void dsm_guess_format(bool reset, const uint8_t dsm_frame[16], unsigned frame_channels); |
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bool dsm_parse_byte(uint32_t frame_time_ms, uint8_t b, uint16_t *values, |
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uint16_t *num_values, uint16_t max_channels); |
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bool dsm_decode(uint32_t frame_time_ms, const uint8_t dsm_frame[16], |
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uint16_t *values, uint16_t *num_values, uint16_t max_values); |
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/**< Channel resolution, 0=unknown, 10=10 bit, 11=11 bit */ |
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uint8_t channel_shift; |
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// format guessing state |
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uint32_t cs10; |
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uint32_t cs11; |
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uint32_t samples; |
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// bind state machine |
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enum { |
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BIND_STATE_NONE, |
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BIND_STATE1, |
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BIND_STATE2, |
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BIND_STATE3, |
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BIND_STATE4, |
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} bind_state; |
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uint32_t bind_last_ms; |
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uint32_t bind_mode_saved; |
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uint16_t last_values[AP_DSM_MAX_CHANNELS]; |
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struct { |
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uint8_t buf[16]; |
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uint8_t ofs; |
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} byte_input; |
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enum DSM_DECODE_STATE { |
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DSM_DECODE_STATE_DESYNC = 0, |
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DSM_DECODE_STATE_SYNC |
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} dsm_decode_state; |
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uint32_t last_frame_time_ms; |
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uint32_t last_rx_time_ms; |
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uint16_t chan_count; |
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SoftSerial ss{115200, SoftSerial::SERIAL_CONFIG_8N1}; |
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};
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