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Ghost protocol

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ghst: add ghost protocol
This commit is contained in:
jciberlin
2021-02-20 11:29:57 +01:00
committed by Lorenz Meier
parent 711a69854b
commit 64342f568d
12 changed files with 781 additions and 32 deletions
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src/drivers/rc_input/RCInput.cpp
+52
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@@ -72,6 +72,7 @@ RCInput::~RCInput()
dsm_deinit();
delete _crsf_telemetry;
delete _ghst_telemetry;
perf_free(_cycle_perf);
perf_free(_publish_interval_perf);
@@ -625,6 +626,53 @@ void RCInput::Run()
}
}
} else {
// Scan the next protocol
set_rc_scan_state(RC_SCAN_GHST);
}
break;
case RC_SCAN_GHST:
if (_rc_scan_begin == 0) {
_rc_scan_begin = cycle_timestamp;
// Configure serial port for GHST
ghst_config(_rcs_fd);
rc_io_invert(false);
} else if (_rc_scan_locked
|| cycle_timestamp - _rc_scan_begin < rc_scan_max) {
// parse new data
if (newBytes > 0) {
int8_t ghst_rssi = -1;
rc_updated = ghst_parse(cycle_timestamp, &_rcs_buf[0], newBytes, &_raw_rc_values[0], &ghst_rssi,
&_raw_rc_count, input_rc_s::RC_INPUT_MAX_CHANNELS);
if (rc_updated) {
// we have a new GHST frame. Publish it.
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_GHST;
fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, false, false, 0, ghst_rssi);
// Enable GHST Telemetry only on the Omnibus, because on Pixhawk (-related) boards
// we cannot write to the RC UART
// It might work on FMU-v5. Or another option is to use a different UART port
#ifdef CONFIG_ARCH_BOARD_OMNIBUS_F4SD
if (!_rc_scan_locked && !_ghst_telemetry) {
_ghst_telemetry = new GHSTTelemetry(_rcs_fd);
}
#endif /* CONFIG_ARCH_BOARD_OMNIBUS_F4SD */
_rc_scan_locked = true;
if (_ghst_telemetry) {
_ghst_telemetry->update(cycle_timestamp);
}
}
}
} else {
// Scan the next protocol
set_rc_scan_state(RC_SCAN_SBUS);
@@ -732,6 +780,10 @@ int RCInput::print_status()
PX4_INFO("CRSF Telemetry: %s", _crsf_telemetry ? "yes" : "no");
break;
case RC_SCAN_GHST:
PX4_INFO("GHST Telemetry: %s", _ghst_telemetry ? "yes" : "no");
break;
case RC_SCAN_SBUS:
PX4_INFO("SBUS frame drops: %u", sbus_dropped_frames());
break;