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77 lines
2.4 KiB
77 lines
2.4 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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#include "AP_RCProtocol.h" |
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#include "AP_RCProtocol_PPMSum.h" |
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#include "AP_RCProtocol_DSM.h" |
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#include "AP_RCProtocol_SBUS.h" |
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void AP_RCProtocol::init() |
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{ |
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backend[AP_RCProtocol::PPM] = new AP_RCProtocol_PPMSum(*this); |
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backend[AP_RCProtocol::SBUS] = new AP_RCProtocol_SBUS(*this); |
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backend[AP_RCProtocol::DSM] = new AP_RCProtocol_DSM(*this); |
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} |
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void AP_RCProtocol::process_pulse(uint32_t width_s0, uint32_t width_s1) |
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{ |
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uint32_t now = AP_HAL::millis(); |
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// first try current protocol |
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if (_detected_protocol != AP_RCProtocol::NONE && now - _last_input_ms < 200) { |
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backend[_detected_protocol]->process_pulse(width_s0, width_s1); |
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if (backend[_detected_protocol]->new_input()) { |
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_new_input = true; |
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_last_input_ms = AP_HAL::millis(); |
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} |
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return; |
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} |
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// otherwise scan all protocols |
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for (uint8_t i = 0; i < AP_RCProtocol::NONE; i++) { |
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if (backend[i] != nullptr) { |
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backend[i]->process_pulse(width_s0, width_s1); |
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if (backend[i]->new_input()) { |
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_new_input = true; |
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_detected_protocol = (enum AP_RCProtocol::rcprotocol_t)i; |
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_last_input_ms = AP_HAL::millis(); |
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} |
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} |
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} |
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} |
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bool AP_RCProtocol::new_input() |
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{ |
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bool ret = _new_input; |
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_new_input = false; |
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return ret; |
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} |
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uint8_t AP_RCProtocol::num_channels() |
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{ |
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if (_detected_protocol != AP_RCProtocol::NONE) { |
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return backend[_detected_protocol]->num_channels(); |
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} |
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return 0; |
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} |
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uint16_t AP_RCProtocol::read(uint8_t chan) |
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{ |
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if (_detected_protocol != AP_RCProtocol::NONE) { |
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return backend[_detected_protocol]->read(chan); |
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} |
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return 0; |
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}
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