Line data    Source code

       1             : /*
       2             :  * This file is free software: you can redistribute it and/or modify it
       3             :  * under the terms of the GNU General Public License as published by the
       4             :  * Free Software Foundation, either version 3 of the License, or
       5             :  * (at your option) any later version.
       6             :  *
       7             :  * This file is distributed in the hope that it will be useful, but
       8             :  * WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
      10             :  * See the GNU General Public License for more details.
      11             :  *
      12             :  * You should have received a copy of the GNU General Public License along
      13             :  * with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  *
      15             :  * Code by Andrew Tridgell and Siddharth Bharat Purohit
      16             :  */
      17             : #pragma once
      18             : 
      19             : #include "AP_RCProtocol_config.h"
      20             : 
      21             : #include <AP_HAL/AP_HAL.h>
      22             : #include <AP_Common/AP_Common.h>
      23             : #if AP_RCPROTOCOL_MAVLINK_RADIO_ENABLED
      24             : #include <GCS_MAVLink/GCS_MAVLink.h>
      25             : #endif
      26             : 
      27             : #define MAX_RCIN_CHANNELS 18
      28             : #define MIN_RCIN_CHANNELS  5
      29             : 
      30             : class AP_RCProtocol_Backend;
      31             : 
      32             : class AP_RCProtocol {
      33             : public:
      34             : 
      35             :     enum rcprotocol_t {
      36             : #if AP_RCPROTOCOL_PPMSUM_ENABLED
      37             :         PPMSUM     =  0,
      38             : #endif
      39             : #if AP_RCPROTOCOL_IBUS_ENABLED
      40             :         IBUS       =  1,
      41             : #endif
      42             : #if AP_RCPROTOCOL_SBUS_ENABLED
      43             :         SBUS       =  2,
      44             : #endif
      45             : #if AP_RCPROTOCOL_SBUS_NI_ENABLED
      46             :         SBUS_NI    =  3,
      47             : #endif
      48             : #if AP_RCPROTOCOL_DSM_ENABLED
      49             :         DSM        =  4,
      50             : #endif
      51             : #if AP_RCPROTOCOL_SUMD_ENABLED
      52             :         SUMD       =  5,
      53             : #endif
      54             : #if AP_RCPROTOCOL_SRXL_ENABLED
      55             :         SRXL       =  6,
      56             : #endif
      57             : #if AP_RCPROTOCOL_SRXL2_ENABLED
      58             :         SRXL2      =  7,
      59             : #endif
      60             : #if AP_RCPROTOCOL_CRSF_ENABLED
      61             :         CRSF       =  8,
      62             : #endif
      63             : #if AP_RCPROTOCOL_ST24_ENABLED
      64             :         ST24       =  9,
      65             : #endif
      66             : #if AP_RCPROTOCOL_FPORT_ENABLED
      67             :         FPORT      = 10,
      68             : #endif
      69             : #if AP_RCPROTOCOL_FPORT2_ENABLED
      70             :         FPORT2     = 11,
      71             : #endif
      72             : #if AP_RCPROTOCOL_FASTSBUS_ENABLED
      73             :         FASTSBUS   = 12,
      74             : #endif
      75             : #if AP_RCPROTOCOL_DRONECAN_ENABLED
      76             :         DRONECAN   = 13,
      77             : #endif
      78             : #if AP_RCPROTOCOL_GHST_ENABLED
      79             :         GHST       = 14,
      80             : #endif
      81             : #if AP_RCPROTOCOL_MAVLINK_RADIO_ENABLED
      82             :         MAVLINK_RADIO = 15,
      83             : #endif
      84             : #if AP_RCPROTOCOL_JOYSTICK_SFML_ENABLED
      85             :         JOYSTICK_SFML = 16,
      86             : #endif
      87             : #if AP_RCPROTOCOL_UDP_ENABLED
      88             :         UDP = 17,
      89             : #endif
      90             : #if AP_RCPROTOCOL_FDM_ENABLED
      91             :         FDM = 18,
      92             : #endif
      93             : #if AP_RCPROTOCOL_RADIO_ENABLED
      94             :         RADIO = 19,
      95             : #endif
      96             : #if AP_RCPROTOCOL_IOMCU_ENABLED
      97             :         IOMCU = 20,
      98             : #endif  // AP_RCPROTOCOL_IOMCU_ENABLED
      99             : #if AP_RCPROTOCOL_EMLID_RCIO_ENABLED
     100             :         EMLID_RCIO = 21,
     101             : #endif
     102             :         NONE    //last enum always is None
     103             :     };
     104             : 
     105             :     // return protocol name as a string
     106             :     static const char *protocol_name_from_protocol(rcprotocol_t protocol);
     107             : 
     108             : #if AP_RCPROTOCOL_ENABLED
     109             : 
     110        2094 :     AP_RCProtocol() {}
     111             :     ~AP_RCProtocol();
     112             :     friend class AP_RCProtocol_Backend;
     113             : 
     114             :     void init();
     115             :     bool valid_serial_prot() const
     116             :     {
     117             :         return _valid_serial_prot;
     118             :     }
     119             :     bool should_search(uint32_t now_ms) const;
     120             :     void process_pulse(uint32_t width_s0, uint32_t width_s1);
     121             :     void process_pulse_list(const uint32_t *widths, uint16_t n, bool need_swap);
     122             :     bool process_byte(uint8_t byte, uint32_t baudrate);
     123             :     void process_handshake(uint32_t baudrate);
     124             :     void update(void);
     125             : 
     126     2200594 :     bool failsafe_active() const {
     127     2200594 :         return _failsafe_active;
     128             :     }
     129     7510171 :     void set_failsafe_active(bool active) {
     130     7510171 :         _failsafe_active = active;
     131     7510171 :     }
     132             : 
     133             :     void disable_for_pulses(enum rcprotocol_t protocol) {
     134             :         _disabled_for_pulses |= (1U<<(uint8_t)protocol);
     135             :     }
     136             : 
     137             : #if !defined(__clang__)
     138             : // in the case we've disabled most backends then the "return true" in
     139             : // the following method can never be reached, and the compiler gets
     140             : // annoyed at that.
     141             : #pragma GCC diagnostic push
     142             : #pragma GCC diagnostic ignored "-Wswitch-unreachable"
     143             : #endif
     144             : 
     145             :     // for protocols without strong CRCs we require 3 good frames to lock on
     146           0 :     bool requires_3_frames(enum rcprotocol_t p) {
     147           0 :         switch (p) {
     148             : #if AP_RCPROTOCOL_DSM_ENABLED
     149           0 :         case DSM:
     150             : #endif
     151             : #if AP_RCPROTOCOL_FASTSBUS_ENABLED
     152             :         case FASTSBUS:
     153             : #endif
     154             : #if AP_RCPROTOCOL_SBUS_ENABLED
     155             :         case SBUS:
     156             : #endif
     157             : #if AP_RCPROTOCOL_SBUS_NI_ENABLED
     158             :         case SBUS_NI:
     159             : #endif
     160             : #if AP_RCPROTOCOL_PPMSUM_ENABLED
     161             :         case PPMSUM:
     162             : #endif
     163             : #if AP_RCPROTOCOL_FPORT_ENABLED
     164             :         case FPORT:
     165             : #endif
     166             : #if AP_RCPROTOCOL_FPORT2_ENABLED
     167             :         case FPORT2:
     168             : #endif
     169             : #if AP_RCPROTOCOL_CRSF_ENABLED
     170             :         case CRSF:
     171             : #endif
     172             : #if AP_RCPROTOCOL_GHST_ENABLED
     173             :         case GHST:
     174             : #endif
     175           0 :             return true;
     176             : #if AP_RCPROTOCOL_IBUS_ENABLED
     177           0 :         case IBUS:
     178             : #endif
     179             : #if AP_RCPROTOCOL_SUMD_ENABLED
     180             :         case SUMD:
     181             : #endif
     182             : #if AP_RCPROTOCOL_SRXL_ENABLED
     183             :         case SRXL:
     184             : #endif
     185             : #if AP_RCPROTOCOL_SRXL2_ENABLED
     186             :         case SRXL2:
     187             : #endif
     188             : #if AP_RCPROTOCOL_ST24_ENABLED
     189             :         case ST24:
     190             : #endif
     191             : #if AP_RCPROTOCOL_DRONECAN_ENABLED
     192             :         case DRONECAN:
     193             : #endif
     194             : #if AP_RCPROTOCOL_MAVLINK_RADIO_ENABLED
     195             :         case MAVLINK_RADIO:
     196             : #endif
     197             : #if AP_RCPROTOCOL_JOYSTICK_SFML_ENABLED
     198             :         case JOYSTICK_SFML:
     199             : #endif
     200             : #if AP_RCPROTOCOL_UDP_ENABLED
     201             :         case UDP:
     202             : #endif
     203             : #if AP_RCPROTOCOL_FDM_ENABLED
     204             :         case FDM:
     205             : #endif
     206             : #if AP_RCPROTOCOL_RADIO_ENABLED
     207             :         case RADIO:
     208             : #endif
     209             : #if AP_RCPROTOCOL_IOMCU_ENABLED
     210             :         case IOMCU:
     211             : #endif  // AP_RCPROTOCOL_IOMCU_ENABLED
     212             : #if AP_RCPROTOCOL_EMLID_RCIO_ENABLED
     213             :         case EMLID_RCIO:
     214             : #endif
     215             :         case NONE:
     216           0 :             return false;
     217             :         }
     218           0 :         return false;
     219             :     }
     220             : #if !defined(__clang__)
     221             : #pragma GCC diagnostic pop
     222             : #endif
     223             : 
     224             :     uint8_t num_channels();
     225             :     uint16_t read(uint8_t chan);
     226             :     void read(uint16_t *pwm, uint8_t n);
     227             :     bool new_input();
     228             :     void start_bind();
     229             :     int16_t get_RSSI(void) const;
     230             :     int16_t get_rx_link_quality(void) const;
     231             : 
     232             :     // return detected protocol.  In the case that backend can provide
     233             :     // information on what *it* is decoding that will be returned by
     234             :     // this method.  As opposed to "protocol_name" which will be the
     235             :     // backend name e.g. "IOMCU".
     236             :     const char *detected_protocol_name() const;
     237             : 
     238             :     // return detected protocol
     239             :     enum rcprotocol_t protocol_detected(void) const {
     240             :         return _detected_protocol;
     241             :     }
     242             : 
     243             :     // add a UART for RCIN
     244             :     void add_uart(AP_HAL::UARTDriver* uart);
     245           1 :     bool has_uart() const { return added.uart != nullptr; }
     246             : 
     247             :     // set allowed RC protocols
     248             :     void set_rc_protocols(uint32_t mask) {
     249             :         rc_protocols_mask = mask;
     250             :     }
     251             : 
     252             :     class SerialConfig {
     253             :     public:
     254             :         void apply_to_uart(AP_HAL::UARTDriver *uart) const;
     255             : 
     256             :         uint32_t baud;
     257             :         uint8_t parity;
     258             :         uint8_t stop_bits;
     259             :         bool invert_rx;
     260             :     };
     261             : 
     262             :     // return true if we are decoding a byte stream, instead of pulses
     263    36179583 :     bool using_uart(void) const {
     264    36179583 :         return _detected_with_bytes;
     265             :     }
     266             : 
     267             :     // handle mavlink radio
     268             : #if AP_RCPROTOCOL_MAVLINK_RADIO_ENABLED
     269             :     void handle_radio_rc_channels(const mavlink_radio_rc_channels_t* packet);
     270             : #endif
     271             : 
     272             :     // some backends have a struct LinkStatus and a field _link_status, avoid name clash
     273             :     struct RcLinkStatus {
     274             :         int16_t link_quality = -1;
     275             :         int16_t tx_power = -1;
     276             :         int8_t rssi_dbm = -1;
     277             :         int8_t snr = INT8_MIN;
     278             :         int8_t active_antenna = -1;
     279             :     };
     280             :     volatile struct RcLinkStatus _rc_link_status;
     281             : 
     282             :     const volatile RcLinkStatus& get_link_status() const { return _rc_link_status; }
     283             : 
     284             : private:
     285             :     void check_added_uart(void);
     286             : 
     287             :     // return true if a specific protocol is enabled
     288             :     bool protocol_enabled(enum rcprotocol_t protocol) const;
     289             : 
     290             :     // explicitly investigate a backend for data, as opposed to
     291             :     // feeding the backend a byte (or pulse-train) at a time and
     292             :     // having them make an "add_input" callback):
     293             :     bool detect_async_protocol(rcprotocol_t protocol);
     294             : 
     295             :     enum rcprotocol_t _detected_protocol = NONE;
     296             :     uint16_t _disabled_for_pulses;
     297             :     bool _detected_with_bytes;
     298             :     AP_RCProtocol_Backend *backend[NONE];
     299             :     bool _new_input;
     300             :     uint32_t _last_input_ms;
     301             :     bool _failsafe_active;
     302             :     bool _valid_serial_prot;
     303             : 
     304             :     // optional additional uart
     305             :     struct {
     306             :         AP_HAL::UARTDriver *uart;
     307             :         bool opened;
     308             :         uint32_t last_config_change_ms;
     309             :         uint8_t config_num;
     310             :     } added;
     311             : 
     312             :     // allowed RC protocols mask (first bit means "all")
     313             :     uint32_t rc_protocols_mask;
     314             : 
     315             :     rcprotocol_t _last_detected_protocol;
     316             :     bool _last_detected_using_uart;
     317             :     void announce_detected();
     318             : 
     319             : #endif  // AP_RCPROTOCOL_ENABLED
     320             : 
     321             : };
     322             : 
     323             : #if AP_RCPROTOCOL_ENABLED
     324             : namespace AP {
     325             :     AP_RCProtocol &RC();
     326             : };
     327             : 
     328             : #include "AP_RCProtocol_Backend.h"
     329             : #endif  // AP_RCPROTOCOL_ENABLED