AP_HAL_Linux: remove unused RC input methods

these protocols have come from AP_RCProtocol for years

Author: peterbarker

libraries/AP_HAL_Linux/RCInput.cpp

@@ -330,229 +330,3 @@ void RCInput::_update_periods(uint16_t *periods, uint8_t len)
     _num_channels = len;
     rc_input_count++;
 }
-
-
-/*
-  add some bytes of input in DSM serial stream format, coping with partial packets
- */
-bool RCInput::add_dsm_input(const uint8_t *bytes, size_t nbytes)
-{
-    if (nbytes == 0) {
-        return false;
-    }
-    const uint8_t dsm_frame_size = sizeof(dsm.frame);
-    bool ret = false;
-    
-    uint32_t now = AP_HAL::millis();
-    if (now - dsm.last_input_ms > 5) {
-        // resync based on time
-        dsm.partial_frame_count = 0;
-    }
-    dsm.last_input_ms = now;
-
-    while (nbytes > 0) {
-        size_t n = nbytes;
-        if (dsm.partial_frame_count + n > dsm_frame_size) {
-            n = dsm_frame_size - dsm.partial_frame_count;
-        }
-        if (n > 0) {
-            memcpy(&dsm.frame[dsm.partial_frame_count], bytes, n);
-            dsm.partial_frame_count += n;
-            nbytes -= n;
-            bytes += n;
-        }
-
-	if (dsm.partial_frame_count == dsm_frame_size) {
-            dsm.partial_frame_count = 0;
-            uint16_t values[16] {};
-            uint16_t num_values=0;
-            /*
-              we only accept input when nbytes==0 as dsm is highly
-              sensitive to framing, and extra bytes may be an
-              indication this is really SRXL
-             */
-            if (dsm_decode(AP_HAL::micros64(), dsm.frame, values, &num_values, 16) &&
-                num_values >= MIN_NUM_CHANNELS &&
-                nbytes == 0) {
-                for (uint8_t i=0; i<num_values; i++) {
-                    if (values[i] != 0) {
-                        _pwm_values[i] = values[i];
-                    }
-                }
-                /*
-                  the apparent number of channels can change on DSM,
-                  as they are spread across multiple frames. We just
-                  use the max num_values we get
-                 */
-                if (num_values > _num_channels) {
-                    _num_channels = num_values;
-                }
-                rc_input_count++;
-#if 0
-                printf("Decoded DSM %u channels %u %u %u %u %u %u %u %u\n",
-                       (unsigned)num_values,
-                       values[0], values[1], values[2], values[3], values[4], values[5], values[6], values[7]);
-#endif
-                ret = true;
-            }
-        }
-    }
-    return ret;
-}
-
-
-/*
-  add some bytes of input in SUMD serial stream format, coping with partial packets
- */
-bool RCInput::add_sumd_input(const uint8_t *bytes, size_t nbytes)
-{
-    uint16_t values[LINUX_RC_INPUT_NUM_CHANNELS];
-    uint8_t rssi;
-    uint8_t rx_count;
-    uint16_t channel_count;
-    bool ret = false;
-    
-    while (nbytes > 0) {
-        if (sumd_decode(*bytes++, &rssi, &rx_count, &channel_count, values, LINUX_RC_INPUT_NUM_CHANNELS) == 0) {
-            if (channel_count > LINUX_RC_INPUT_NUM_CHANNELS) {
-                continue;
-            }
-            for (uint8_t i=0; i<channel_count; i++) {
-                if (values[i] != 0) {
-                    _pwm_values[i] = values[i];
-                }
-            }
-            _num_channels = channel_count;
-            rc_input_count++;
-            ret = true;
-            _rssi = rssi;
-        }
-        nbytes--;
-    }
-    return ret;
-}
-
-/*
-  add some bytes of input in ST24 serial stream format, coping with partial packets
- */
-bool RCInput::add_st24_input(const uint8_t *bytes, size_t nbytes)
-{
-    uint16_t values[LINUX_RC_INPUT_NUM_CHANNELS];
-    uint8_t rssi;
-    uint8_t rx_count;
-    uint16_t channel_count;
-    bool ret = false;
-    
-    while (nbytes > 0) {
-        if (st24_decode(*bytes++, &rssi, &rx_count, &channel_count, values, LINUX_RC_INPUT_NUM_CHANNELS) == 0) {
-            if (channel_count > LINUX_RC_INPUT_NUM_CHANNELS) {
-                continue;
-            }
-            for (uint8_t i=0; i<channel_count; i++) {
-                if (values[i] != 0) {
-                    _pwm_values[i] = values[i];
-                }
-            }
-            _num_channels = channel_count;
-            rc_input_count++;
-            ret = true;
-            _rssi = rssi;
-        }
-        nbytes--;
-    }
-    return ret;
-}
-
-/*
-  add some bytes of input in SRXL serial stream format, coping with partial packets
- */
-bool RCInput::add_srxl_input(const uint8_t *bytes, size_t nbytes)
-{
-    uint16_t values[LINUX_RC_INPUT_NUM_CHANNELS];
-    uint8_t channel_count;
-    uint64_t now = AP_HAL::micros64();
-    bool ret = false;
-    bool failsafe_state;
-    
-    while (nbytes > 0) {
-        if (srxl_decode(now, *bytes++, &channel_count, values, LINUX_RC_INPUT_NUM_CHANNELS, &failsafe_state) == 0) {
-            if (channel_count > LINUX_RC_INPUT_NUM_CHANNELS) {
-                continue;
-            }
-            for (uint8_t i=0; i<channel_count; i++) {
-                _pwm_values[i] = values[i];
-            }
-            _num_channels = channel_count;
-            if (failsafe_state == false) {
-                rc_input_count++;
-            }
-            ret = true;
-        }
-        nbytes--;
-    }
-    return ret;
-}
-
-
-/*
-  add some bytes of input in SBUS serial stream format, coping with partial packets
- */
-void RCInput::add_sbus_input(const uint8_t *bytes, size_t nbytes)
-{
-    if (nbytes == 0) {
-        return;
-    }
-    const uint8_t sbus_frame_size = sizeof(sbus.frame);
-
-    uint32_t now = AP_HAL::millis();
-    if (now - sbus.last_input_ms > 5) {
-        // resync based on time
-        sbus.partial_frame_count = 0;
-    }
-    sbus.last_input_ms = now;
-
-    while (nbytes > 0) {
-        size_t n = nbytes;
-        if (sbus.partial_frame_count + n > sbus_frame_size) {
-            n = sbus_frame_size - sbus.partial_frame_count;
-        }
-        if (n > 0) {
-            memcpy(&sbus.frame[sbus.partial_frame_count], bytes, n);
-            sbus.partial_frame_count += n;
-            nbytes -= n;
-            bytes += n;
-        }
-
-	if (sbus.partial_frame_count == sbus_frame_size) {
-            sbus.partial_frame_count = 0;
-            uint16_t values[16] {};
-            uint16_t num_values=0;
-            bool sbus_failsafe;
-            if (AP_RCProtocol_SBUS::sbus_decode(sbus.frame, values, &num_values, sbus_failsafe, 16) &&
-                num_values >= MIN_NUM_CHANNELS) {
-                for (uint8_t i=0; i<num_values; i++) {
-                    if (values[i] != 0) {
-                        _pwm_values[i] = values[i];
-                    }
-                }
-                /*
-                  the apparent number of channels can change on SBUS,
-                  as they are spread across multiple frames. We just
-                  use the max num_values we get
-                 */
-                if (num_values > _num_channels) {
-                    _num_channels = num_values;
-                }
-                if (!sbus_failsafe) {
-                    rc_input_count++;
-                }
-#if 0
-                printf("Decoded SBUS %u channels %u %u %u %u %u %u %u %u %s\n",
-                       (unsigned)num_values,
-                       values[0], values[1], values[2], values[3], values[4], values[5], values[6], values[7],
-                       sbus_failsafe?"FAIL":"OK");
-#endif
-            }
-        }
-    }
-}

libraries/AP_HAL_Linux/RCInput.h

@@ -33,21 +33,6 @@ class RCInput : public AP_HAL::RCInput {
     // specific implementations
     virtual void _timer_tick() {}
 
-    // add some DSM input bytes, for RCInput over a serial port
-    bool add_dsm_input(const uint8_t *bytes, size_t nbytes);
-
-    // add some SBUS input bytes, for RCInput over a serial port
-    void add_sbus_input(const uint8_t *bytes, size_t nbytes);
-
-    // add some SUMD input bytes, for RCInput over a serial port
-    bool add_sumd_input(const uint8_t *bytes, size_t nbytes);
-
-    // add some st24 input bytes, for RCInput over a serial port
-    bool add_st24_input(const uint8_t *bytes, size_t nbytes);
-
-    // add some srxl input bytes, for RCInput over a serial port
-    bool add_srxl_input(const uint8_t *bytes, size_t nbytes);
-
 protected:
     void _process_rc_pulse(uint16_t width_s0, uint16_t width_s1);
     void _update_periods(uint16_t *periods, uint8_t len);
@@ -81,20 +66,6 @@ class RCInput : public AP_HAL::RCInput {
         uint16_t bit_ofs;
     } dsm_state;
 
-    // state of add_dsm_input
-    struct {
-        uint8_t frame[16];
-        uint8_t partial_frame_count;
-        uint32_t last_input_ms;
-    } dsm;
-
-    // state of add_sbus_input
-    struct {
-        uint8_t frame[25];
-        uint8_t partial_frame_count;
-        uint32_t last_input_ms;
-    } sbus;
-
     int16_t _rssi = -1;
 };