mirror of https://github.com/ArduPilot/ardupilot
77 lines
2.0 KiB
C++
77 lines
2.0 KiB
C++
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#include <AP_HAL/HAL.h>
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#include "RmtSigReader.h"
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#ifdef HAL_ESP32_RCIN
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using namespace ESP32;
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void RmtSigReader::init()
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{
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rmt_config_t config;
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config.rmt_mode = RMT_MODE_RX;
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config.channel = RMT_CHANNEL_0;
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config.clk_div = 80; //80MHZ APB clock to the 1MHZ target frequency
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config.gpio_num = HAL_ESP32_RCIN;
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config.mem_block_num = 2; //each block could store 64 pulses
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config.rx_config.filter_en = true;
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config.rx_config.filter_ticks_thresh = 8;
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config.rx_config.idle_threshold = idle_threshold;
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rmt_config(&config);
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rmt_driver_install(config.channel, max_pulses * 8, 0);
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rmt_get_ringbuf_handle(config.channel, &handle);
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rmt_rx_start(config.channel, true);
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}
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bool RmtSigReader::add_item(uint32_t duration, bool level)
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{
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bool has_more = true;
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if (duration == 0) {
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has_more = false;
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duration = idle_threshold;
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}
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if (level) {
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if (last_high == 0) {
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last_high = duration;
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}
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} else {
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if (last_high != 0) {
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ready_high = last_high;
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ready_low = duration;
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pulse_ready = true;
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last_high = 0;
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}
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}
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return has_more;
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}
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bool RmtSigReader::read(uint32_t &width_high, uint32_t &width_low)
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{
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if (item == nullptr) {
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item = (rmt_item32_t*) xRingbufferReceive(handle, &item_size, 0);
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item_size /= 4;
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current_item = 0;
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}
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if (item == nullptr) {
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return false;
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}
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bool buffer_empty = (current_item == item_size);
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buffer_empty = buffer_empty ||
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!add_item(item[current_item].duration0, item[current_item].level0);
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buffer_empty = buffer_empty ||
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!add_item(item[current_item].duration1, item[current_item].level1);
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current_item++;
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if (buffer_empty) {
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vRingbufferReturnItem(handle, (void*) item);
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item = nullptr;
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}
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if (pulse_ready) {
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width_high = ready_high;
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width_low = ready_low;
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pulse_ready = false;
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return true;
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}
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return false;
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}
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#endif
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