You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
68 lines
3.0 KiB
68 lines
3.0 KiB
/* |
|
* 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/>. |
|
*/ |
|
|
|
#pragma once |
|
|
|
#include "AP_RCProtocol.h" |
|
#include <AP_Math/AP_Math.h> |
|
#include "SoftSerial.h" |
|
|
|
#define SRXL2_MAX_CHANNELS 32U /* Maximum number of channels from srxl2 datastream */ |
|
#define SRXL2_FRAMELEN_MAX 80U /* maximum possible framelengh */ |
|
#define SRXL2_HEADER_LEN 3U |
|
|
|
class AP_RCProtocol_SRXL2 : public AP_RCProtocol_Backend { |
|
public: |
|
AP_RCProtocol_SRXL2(AP_RCProtocol &_frontend); |
|
void process_byte(uint8_t byte, uint32_t baudrate) override; |
|
void start_bind(void) override; |
|
void update(void) override; |
|
// get singleton instance |
|
static AP_RCProtocol_SRXL2* get_singleton() { |
|
return _singleton; |
|
} |
|
|
|
// static functions for SRXL2 callbacks |
|
static void capture_scaled_input(const uint16_t *values, bool in_failsafe, int16_t rssi); |
|
static void send_on_uart(uint8_t* pBuffer, uint8_t length); |
|
static void change_baud_rate(uint32_t baudrate); |
|
|
|
private: |
|
|
|
const uint8_t MAX_CHANNELS = MIN((uint8_t)SRXL_MAX_CHANNELS, (uint8_t)MAX_RCIN_CHANNELS); |
|
|
|
static AP_RCProtocol_SRXL2* _singleton; |
|
|
|
void _process_byte(uint32_t timestamp_us, uint8_t byte); |
|
void _send_on_uart(uint8_t* pBuffer, uint8_t length); |
|
void _change_baud_rate(uint32_t baudrate); |
|
void _capture_scaled_input(const uint16_t *values, bool in_failsafe, int16_t rssi); |
|
|
|
uint8_t _buffer[SRXL2_FRAMELEN_MAX]; /* buffer for raw srxl frame data in correct order --> buffer[0]=byte0 buffer[1]=byte1 */ |
|
uint8_t _buflen; /* length in number of bytes of received srxl dataframe in buffer */ |
|
uint32_t _last_run_ms; // last time the state machine was run |
|
uint16_t _channels[SRXL2_MAX_CHANNELS] = {0}; /* buffer for extracted RC channel data as pulsewidth in microseconds */ |
|
|
|
enum { |
|
STATE_IDLE, /* do nothing */ |
|
STATE_NEW, /* get header of frame + prepare for frame reception */ |
|
STATE_COLLECT /* collect RC channel data from frame */ |
|
}; |
|
uint8_t _frame_len_full = 0U; /* Length in number of bytes of full srxl datastream */ |
|
uint8_t _decode_state = STATE_IDLE; /* Current state of SRXL frame decoding */ |
|
uint8_t _decode_state_next = STATE_IDLE; /* State of frame decoding that will be applied when the next byte from dataframe drops in */ |
|
bool _in_failsafe = false; |
|
int16_t _new_rssi = -1; |
|
};
|
|
|