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79 lines
3.6 KiB
79 lines
3.6 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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#pragma once |
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#include "AP_RCProtocol.h" |
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#include <AP_Math/AP_Math.h> |
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#include "AP_RCProtocol_SRXL.h" |
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#include "SoftSerial.h" |
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#define SRXL2_MAX_CHANNELS 32U /* Maximum number of channels from srxl2 datastream */ |
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#define SRXL2_FRAMELEN_MAX 80U /* maximum possible framelengh */ |
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#define SRXL2_HEADER_LEN 3U |
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class AP_RCProtocol_SRXL2 : public AP_RCProtocol_Backend { |
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public: |
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AP_RCProtocol_SRXL2(AP_RCProtocol &_frontend); |
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virtual ~AP_RCProtocol_SRXL2(); |
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void process_byte(uint8_t byte, uint32_t baudrate) override; |
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void process_handshake(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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// get singleton instance |
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static AP_RCProtocol_SRXL2* get_singleton() { |
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return _singleton; |
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} |
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// static functions for SRXL2 callbacks |
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static void capture_scaled_input(const uint8_t *values_p, bool in_failsafe, int16_t rssi); |
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static void send_on_uart(uint8_t* pBuffer, uint8_t length); |
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static void change_baud_rate(uint32_t baudrate); |
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// configure the VTX from Spektrum data |
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static void configure_vtx(uint8_t band, uint8_t channel, uint8_t power, uint8_t pitmode); |
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private: |
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const uint8_t MAX_CHANNELS = MIN((uint8_t)SRXL_MAX_CHANNELS, (uint8_t)MAX_RCIN_CHANNELS); |
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static AP_RCProtocol_SRXL2* _singleton; |
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void _process_byte(uint32_t timestamp_us, uint8_t byte); |
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void _send_on_uart(uint8_t* pBuffer, uint8_t length); |
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void _change_baud_rate(uint32_t baudrate); |
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void _capture_scaled_input(const uint8_t *values_p, bool in_failsafe, int16_t rssi); |
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void _bootstrap(uint8_t device_id); |
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bool is_bootstrapped() const { return _device_id != 0; } |
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uint8_t _buffer[SRXL2_FRAMELEN_MAX]; /* buffer for raw srxl frame data in correct order --> buffer[0]=byte0 buffer[1]=byte1 */ |
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uint8_t _buflen; /* length in number of bytes of received srxl dataframe in buffer */ |
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uint32_t _last_run_ms; // last time the state machine was run |
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uint16_t _channels[SRXL2_MAX_CHANNELS]; /* buffer for extracted RC channel data as pulsewidth in microseconds */ |
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bool _in_bootstrap_or_failsafe; // controls whether we allow UART sends outside a receive time constraint |
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uint8_t _device_id; |
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enum { |
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STATE_IDLE, /* do nothing */ |
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STATE_NEW, /* get header of frame + prepare for frame reception */ |
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STATE_COLLECT /* collect RC channel data from frame */ |
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}; |
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uint8_t _frame_len_full; /* Length in number of bytes of full srxl datastream */ |
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uint8_t _decode_state; /* Current state of SRXL frame decoding */ |
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uint8_t _decode_state_next; /* State of frame decoding that will be applied when the next byte from dataframe drops in */ |
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bool _in_failsafe = false; |
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int16_t _new_rssi = -1; |
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uint32_t _last_handshake_ms; |
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uint32_t _handshake_start_ms; |
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};
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