libraries/AP_RCProtocol/AP_RCProtocol.h

   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         NONE    //last enum always is None
  97     };
  98
  99     // return protocol name as a string
 100     static const char *protocol_name_from_protocol(rcprotocol_t protocol);
 101
 102 #if AP_RCPROTOCOL_ENABLED
 103
 104     AP_RCProtocol() {}
 105     ~AP_RCProtocol();
 106     friend class AP_RCProtocol_Backend;
 107
 108     void init();
 109     bool valid_serial_prot() const
 110     {
 111         return _valid_serial_prot;
 112     }
 113     bool should_search(uint32_t now_ms) const;
 114     void process_pulse(uint32_t width_s0, uint32_t width_s1);
 115     void process_pulse_list(const uint32_t *widths, uint16_t n, bool need_swap);
 116     bool process_byte(uint8_t byte, uint32_t baudrate);
 117     void process_handshake(uint32_t baudrate);
 118     void update(void);
 119
 120     bool failsafe_active() const {
 121         return _failsafe_active;
 122     }
 123     void set_failsafe_active(bool active) {
 124         _failsafe_active = active;
 125     }
 126
 127     void disable_for_pulses(enum rcprotocol_t protocol) {
 128         _disabled_for_pulses |= (1U<<(uint8_t)protocol);
 129     }
 130
 131 #if !defined(__clang__)
 132 // in the case we've disabled most backends then the "return true" in
 133 // the following method can never be reached, and the compiler gets
 134 // annoyed at that.
 135 #pragma GCC diagnostic push
 136 #pragma GCC diagnostic ignored "-Wswitch-unreachable"
 137 #endif
 138
 139     // for protocols without strong CRCs we require 3 good frames to lock on
 140     bool requires_3_frames(enum rcprotocol_t p) {
 141         switch (p) {
 142 #if AP_RCPROTOCOL_DSM_ENABLED
 143         case DSM:
 144 #endif
 145 #if AP_RCPROTOCOL_FASTSBUS_ENABLED
 146         case FASTSBUS:
 147 #endif
 148 #if AP_RCPROTOCOL_SBUS_ENABLED
 149         case SBUS:
 150 #endif
 151 #if AP_RCPROTOCOL_SBUS_NI_ENABLED
 152         case SBUS_NI:
 153 #endif
 154 #if AP_RCPROTOCOL_PPMSUM_ENABLED
 155         case PPMSUM:
 156 #endif
 157 #if AP_RCPROTOCOL_FPORT_ENABLED
 158         case FPORT:
 159 #endif
 160 #if AP_RCPROTOCOL_FPORT2_ENABLED
 161         case FPORT2:
 162 #endif
 163 #if AP_RCPROTOCOL_CRSF_ENABLED
 164         case CRSF:
 165 #endif
 166 #if AP_RCPROTOCOL_GHST_ENABLED
 167         case GHST:
 168 #endif
 169             return true;
 170 #if AP_RCPROTOCOL_IBUS_ENABLED
 171         case IBUS:
 172 #endif
 173 #if AP_RCPROTOCOL_SUMD_ENABLED
 174         case SUMD:
 175 #endif
 176 #if AP_RCPROTOCOL_SRXL_ENABLED
 177         case SRXL:
 178 #endif
 179 #if AP_RCPROTOCOL_SRXL2_ENABLED
 180         case SRXL2:
 181 #endif
 182 #if AP_RCPROTOCOL_ST24_ENABLED
 183         case ST24:
 184 #endif
 185 #if AP_RCPROTOCOL_DRONECAN_ENABLED
 186         case DRONECAN:
 187 #endif
 188 #if AP_RCPROTOCOL_MAVLINK_RADIO_ENABLED
 189         case MAVLINK_RADIO:
 190 #endif
 191 #if AP_RCPROTOCOL_JOYSTICK_SFML_ENABLED
 192         case JOYSTICK_SFML:
 193 #endif
 194 #if AP_RCPROTOCOL_UDP_ENABLED
 195         case UDP:
 196 #endif
 197 #if AP_RCPROTOCOL_FDM_ENABLED
 198         case FDM:
 199 #endif
 200 #if AP_RCPROTOCOL_RADIO_ENABLED
 201         case RADIO:
 202 #endif
 203         case NONE:
 204             return false;
 205         }
 206         return false;
 207     }
 208 #if !defined(__clang__)
 209 #pragma GCC diagnostic pop
 210 #endif
 211
 212     uint8_t num_channels();
 213     uint16_t read(uint8_t chan);
 214     void read(uint16_t *pwm, uint8_t n);
 215     bool new_input();
 216     void start_bind(void);
 217     int16_t get_RSSI(void) const;
 218     int16_t get_rx_link_quality(void) const;
 219
 220     // return protocol name as a string
 221     const char *protocol_name(void) const;
 222
 223     // return detected protocol
 224     enum rcprotocol_t protocol_detected(void) const {
 225         return _detected_protocol;
 226     }
 227
 228     // add a UART for RCIN
 229     void add_uart(AP_HAL::UARTDriver* uart);
 230     bool has_uart() const { return added.uart != nullptr; }
 231
 232     // set allowed RC protocols
 233     void set_rc_protocols(uint32_t mask) {
 234         rc_protocols_mask = mask;
 235     }
 236
 237     class SerialConfig {
 238     public:
 239         void apply_to_uart(AP_HAL::UARTDriver *uart) const;
 240
 241         uint32_t baud;
 242         uint8_t parity;
 243         uint8_t stop_bits;
 244         bool invert_rx;
 245     };
 246
 247     // return true if we are decoding a byte stream, instead of pulses
 248     bool using_uart(void) const {
 249         return _detected_with_bytes;
 250     }
 251
 252     // handle mavlink radio
 253 #if AP_RCPROTOCOL_MAVLINK_RADIO_ENABLED
 254     void handle_radio_rc_channels(const mavlink_radio_rc_channels_t* packet);
 255 #endif
 256
 257 private:
 258     void check_added_uart(void);
 259
 260     // return true if a specific protocol is enabled
 261     bool protocol_enabled(enum rcprotocol_t protocol) const;
 262
 263     // explicitly investigate a backend for data, as opposed to
 264     // feeding the backend a byte (or pulse-train) at a time and
 265     // having them make an "add_input" callback):
 266     bool detect_async_protocol(rcprotocol_t protocol);
 267
 268     enum rcprotocol_t _detected_protocol = NONE;
 269     uint16_t _disabled_for_pulses;
 270     bool _detected_with_bytes;
 271     AP_RCProtocol_Backend *backend[NONE];
 272     bool _new_input;
 273     uint32_t _last_input_ms;
 274     bool _failsafe_active;
 275     bool _valid_serial_prot;
 276
 277     // optional additional uart
 278     struct {
 279         AP_HAL::UARTDriver *uart;
 280         bool opened;
 281         uint32_t last_config_change_ms;
 282         uint8_t config_num;
 283     } added;
 284
 285     // allowed RC protocols mask (first bit means "all")
 286     uint32_t rc_protocols_mask;
 287
 288 #endif  // AP_RCPROTCOL_ENABLED
 289
 290 };
 291
 292 #if AP_RCPROTOCOL_ENABLED
 293 namespace AP {
 294     AP_RCProtocol &RC();
 295 };
 296
 297 #include "AP_RCProtocol_Backend.h"
 298 #endif  // AP_RCProtocol_enabled