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             : 
      16             : #pragma once
      17             : 
      18             : #include "AP_RCProtocol_config.h"
      19             : 
      20             : #if AP_RCPROTOCOL_SRXL2_ENABLED
      21             : 
      22             : #include "AP_RCProtocol.h"
      23             : #include "SoftSerial.h"
      24             : 
      25             : #define SRXL2_MAX_CHANNELS 32U           /* Maximum number of channels from srxl2 datastream  */
      26             : #define SRXL2_FRAMELEN_MAX   80U      /* maximum possible framelengh  */
      27             : #define SRXL2_HEADER_LEN 3U
      28             : 
      29             : class AP_RCProtocol_SRXL2 : public AP_RCProtocol_Backend {
      30             : public:
      31             :     AP_RCProtocol_SRXL2(AP_RCProtocol &_frontend);
      32             :     virtual ~AP_RCProtocol_SRXL2();
      33             :     void process_byte(uint8_t byte, uint32_t baudrate) override;
      34             :     void process_handshake(uint32_t baudrate) override;
      35             :     void start_bind(void) override;
      36             :     void update(void) override;
      37             :     // get singleton instance
      38           0 :     static AP_RCProtocol_SRXL2* get_singleton() {
      39           0 :         return _singleton;
      40             :     }
      41             : 
      42             :     void capture_scaled_input(const uint8_t *values_p, bool in_failsafe, int16_t rssi);
      43             :     void send_on_uart(uint8_t* pBuffer, uint8_t length);
      44             :     void change_baud_rate(uint32_t baudrate);
      45             : 
      46             : private:
      47             : 
      48             :     static AP_RCProtocol_SRXL2* _singleton;
      49             : 
      50             :     void _process_byte(uint32_t timestamp_us, uint8_t byte);
      51             :     void _bootstrap(uint8_t device_id);
      52           0 :     bool is_bootstrapped() const { return _device_id != 0; }
      53             : 
      54             :     uint8_t _buffer[SRXL2_FRAMELEN_MAX];       /* buffer for raw srxl frame data in correct order --> buffer[0]=byte0  buffer[1]=byte1  */
      55             :     uint8_t _buflen;                          /* length in number of bytes of received srxl dataframe in buffer  */
      56             :     uint32_t _last_run_ms;                    // last time the state machine was run
      57             :     uint16_t _channels[SRXL2_MAX_CHANNELS < MAX_RCIN_CHANNELS ? SRXL2_MAX_CHANNELS : MAX_RCIN_CHANNELS];    /* buffer for extracted RC channel data as pulsewidth in microseconds */
      58             :     bool _in_bootstrap_or_failsafe;         // controls whether we allow UART sends outside a receive time constraint
      59             :     uint8_t _device_id;
      60             : 
      61             :     enum {
      62             :         STATE_IDLE,                          /* do nothing */
      63             :         STATE_NEW,                           /* get header of frame + prepare for frame reception */
      64             :         STATE_COLLECT                        /* collect RC channel data from frame */
      65             :     };
      66             :     uint8_t _frame_len_full;                 /* Length in number of bytes of full srxl datastream */
      67             :     uint8_t _decode_state;           /* Current state of SRXL frame decoding */
      68             :     uint8_t _decode_state_next;      /* State of frame decoding that will be applied when the next byte from dataframe drops in  */
      69             :     bool _in_failsafe = false;
      70             :     int16_t _new_rssi = -1;
      71             :     uint32_t _last_handshake_ms;
      72             :     uint32_t _handshake_start_ms;
      73             : };
      74             : 
      75             : #endif  // AP_RCPROTOCOL_SRXL2_ENABLED