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             : 
      18             : #pragma once
      19             : 
      20             : #include "AP_RCProtocol.h"
      21             : 
      22             : #if AP_RCPROTOCOL_ENABLED
      23             : 
      24             : #include <AP_HAL/utility/sparse-endian.h>
      25             : #include <AP_VideoTX/AP_VideoTX_config.h>
      26             : 
      27             : class AP_RCProtocol_Backend {
      28             :     friend class AP_RCProtcol;
      29             : 
      30             : public:
      31             :     AP_RCProtocol_Backend(AP_RCProtocol &_frontend);
      32        8172 :     virtual ~AP_RCProtocol_Backend() {}
      33           0 :     virtual void process_pulse(uint32_t width_s0, uint32_t width_s1) {}
      34           0 :     virtual void process_byte(uint8_t byte, uint32_t baudrate) {}
      35          60 :     virtual void process_handshake(uint32_t baudrate) {}
      36             :     uint16_t read(uint8_t chan);
      37             :     void read(uint16_t *pwm, uint8_t n);
      38             :     bool new_input();
      39             :     uint8_t num_channels() const;
      40             : 
      41             :     // support for receivers that have FC initiated bind support
      42           0 :     virtual void start_bind() {}
      43             : 
      44             :     // allow for backends that need regular polling
      45   397952434 :     virtual void update(void) {}
      46             : 
      47             :     // update from mavlink messages
      48             : #if AP_RCPROTOCOL_MAVLINK_RADIO_ENABLED
      49           0 :     virtual void update_radio_rc_channels(const mavlink_radio_rc_channels_t* packet) {}
      50             : #endif
      51             : 
      52             :     // get number of frames, ignoring failsafe
      53           0 :     uint32_t get_rc_frame_count(void) const {
      54           0 :         return rc_frame_count;
      55             :     }
      56             : 
      57             :     // reset valid rc frame count
      58           0 :     void reset_rc_frame_count(void) {
      59           0 :         rc_frame_count = 0;
      60           0 :     }
      61             : 
      62             :     // get number of frames, honoring failsafe
      63           0 :     uint32_t get_rc_input_count(void) const {
      64           0 :         return rc_input_count;
      65             :     }
      66             : 
      67           4 :     uint32_t get_rc_protocols_mask(void) const {
      68           4 :         return frontend.rc_protocols_mask;
      69             :     }
      70             : 
      71           0 :     bool protocol_enabled(enum AP_RCProtocol::rcprotocol_t protocol) const {
      72           0 :         return frontend.protocol_enabled(protocol);
      73             :     }
      74             : 
      75             :     // get RSSI
      76           0 :     int16_t get_RSSI(void) const {
      77           0 :         return rssi;
      78             :     }
      79           0 :     int16_t get_rx_link_quality(void) const {
      80           0 :         return rx_link_quality;
      81             :     }
      82             :     // get UART for RCIN, if available. This will return false if we
      83             :     // aren't getting the active RC input protocol via the uart
      84           0 :     AP_HAL::UARTDriver *get_UART(void) const {
      85           0 :         return frontend._detected_with_bytes?frontend.added.uart:nullptr;
      86             :     }
      87             : 
      88             :     // get an available uart regardless of whether we have detected a protocol via it
      89           8 :     AP_HAL::UARTDriver *get_available_UART(void) const {
      90           8 :         return frontend.added.uart;
      91             :     }
      92             : 
      93             :     // return true if we have a uart available for protocol handling.
      94           0 :     bool have_UART(void) const {
      95           0 :         return frontend.added.uart != nullptr;
      96             :     }
      97             : 
      98             :     // is the receiver active, used to detect power loss and baudrate changes
      99           0 :     virtual bool is_rx_active() const {
     100           0 :         return true;
     101             :     }
     102             : 
     103           0 :     bool is_detected() const {
     104           0 :         return frontend._detected_protocol != AP_RCProtocol::NONE && frontend.backend[frontend._detected_protocol] == this;
     105             :     }
     106             : 
     107             : #if AP_VIDEOTX_ENABLED
     108             :     // called by static methods to confiig video transmitters:
     109             :     static void configure_vtx(uint8_t band, uint8_t channel, uint8_t power, uint8_t pitmode);
     110             : #endif
     111             : 
     112             : protected:
     113             : 
     114             :     struct Channels11Bit_8Chan {
     115             : #if __BYTE_ORDER != __LITTLE_ENDIAN
     116             : #error "Only supported on little-endian architectures"
     117             : #endif
     118             :         uint32_t ch0 : 11;
     119             :         uint32_t ch1 : 11;
     120             :         uint32_t ch2 : 11;
     121             :         uint32_t ch3 : 11;
     122             :         uint32_t ch4 : 11;
     123             :         uint32_t ch5 : 11;
     124             :         uint32_t ch6 : 11;
     125             :         uint32_t ch7 : 11;
     126             :     } PACKED;
     127             : 
     128             :     void add_input(uint8_t num_channels, uint16_t *values, bool in_failsafe, int16_t rssi=-1, int16_t rx_link_quality=-1);
     129             :     AP_RCProtocol &frontend;
     130             : 
     131             :     void log_data(AP_RCProtocol::rcprotocol_t prot, uint32_t timestamp, const uint8_t *data, uint8_t len) const;
     132             : 
     133             :     // decode channels from the standard 11bit format (used by CRSF and SBUS)
     134             :     static void decode_11bit_channels(const uint8_t* data, uint8_t nchannels, uint16_t *values, uint16_t mult, uint16_t div, uint16_t offset);
     135             : 
     136             : private:
     137             :     uint32_t rc_input_count;
     138             :     uint32_t last_rc_input_count;
     139             :     uint32_t rc_frame_count;
     140             : 
     141             :     uint16_t _pwm_values[MAX_RCIN_CHANNELS];
     142             :     uint8_t  _num_channels;
     143             :     int16_t rssi = -1;
     144             :     int16_t rx_link_quality = -1;
     145             : };
     146             : 
     147             : #endif  // AP_RCPROTOCOL_ENABLED