HAL_ChibiOS: added support for interrupt based rcin parsing

libraries/AP_HAL_ChibiOS/AP_HAL_ChibiOS_Namespace.h

@@ -24,5 +24,6 @@ namespace ChibiOS {
     class Util;
     class Shared_DMA;
     class SoftSigReader;
+    class SoftSigReaderInt;
     class CANManager;
 }

libraries/AP_HAL_ChibiOS/RCInput.cpp

@@ -35,6 +35,12 @@ void RCInput::init()
     sig_reader.attach_capture_timer(&RCIN_ICU_TIMER, RCIN_ICU_CHANNEL, STM32_RCIN_DMA_STREAM, STM32_RCIN_DMA_CHANNEL);
     rcin_prot.init();
 #endif
+
+#if HAL_USE_EICU == TRUE
+    sig_reader.init(&RCININT_EICU_TIMER, RCININT_EICU_CHANNEL);
+    rcin_prot.init();
+#endif
+
     _init = true;
 }
 
@@ -166,7 +172,7 @@ void RCInput::_timer_tick(void)
     if (!_init) {
         return;
     }
-#if HAL_USE_ICU == TRUE
+#if HAL_USE_ICU == TRUE || HAL_USE_EICU == TRUE
     uint32_t width_s0, width_s1;
 
     while(sig_reader.read(width_s0, width_s1)) {

libraries/AP_HAL_ChibiOS/RCInput.h

@@ -17,7 +17,6 @@
 #pragma once
 
 #include "AP_HAL_ChibiOS.h"
-#include "SoftSigReader.h"
 #include "Semaphores.h"
 
 #ifdef HAL_RCINPUT_WITH_AP_RADIO
@@ -25,9 +24,16 @@
 #endif
 
 #if HAL_USE_ICU == TRUE
+#include "SoftSigReader.h"
 #include <AP_RCProtocol/AP_RCProtocol.h>
 #endif
 
+#if HAL_USE_EICU == TRUE
+#include "SoftSigReaderInt.h"
+#include <AP_RCProtocol/AP_RCProtocol.h>
+#endif
+
+
 #ifndef RC_INPUT_MAX_CHANNELS
 #define RC_INPUT_MAX_CHANNELS 18
 #endif
@@ -75,6 +81,11 @@ private:
     AP_RCProtocol rcin_prot;
 #endif
 
+#if HAL_USE_EICU == TRUE
+    ChibiOS::SoftSigReaderInt sig_reader;
+    AP_RCProtocol rcin_prot;
+#endif
+
 #if HAL_WITH_IO_MCU
     uint32_t last_iomcu_us;
 #endif

libraries/AP_HAL_ChibiOS/SoftSigReaderInt.cpp

@@ -0,0 +1,76 @@
+/*
+ * This file is free software: you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "SoftSigReaderInt.h"
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+
+using namespace ChibiOS;
+extern const AP_HAL::HAL& hal;
+
+#if HAL_USE_EICU == TRUE
+
+#define eicu_lld_invert_polarity(eicup, channel)                              \
+  (eicup)->tim->CCER ^= ((uint16_t)(STM32_TIM_CCER_CC1P << ((channel) * 4)))
+
+// singleton instance
+SoftSigReaderInt *SoftSigReaderInt::_instance;
+
+SoftSigReaderInt::SoftSigReaderInt()
+{
+    _instance = this;
+}
+
+void SoftSigReaderInt::init(EICUDriver* icu_drv, eicuchannel_t chan)
+{
+    last_value = 0;
+    _icu_drv = icu_drv;
+    icucfg.dier = 0;
+    icucfg.frequency = INPUT_CAPTURE_FREQUENCY;
+    for (int i=0; i< EICU_CHANNEL_ENUM_END; i++) {
+        icucfg.iccfgp[i]=nullptr;
+    }
+    icucfg.iccfgp[chan] = &channel_config;
+    channel_config.alvl = EICU_INPUT_ACTIVE_HIGH;
+    channel_config.capture_cb = _irq_handler;
+    eicuStart(_icu_drv, &icucfg);
+    eicuEnable(_icu_drv);
+}
+
+void SoftSigReaderInt::_irq_handler(EICUDriver *eicup, eicuchannel_t channel)
+{
+    uint16_t value = eicup->tim->CCR[channel];
+    _instance->sigbuf.push(value);
+    eicu_lld_invert_polarity(eicup, channel);
+}
+
+bool SoftSigReaderInt::read(uint32_t &widths0, uint32_t &widths1)
+{
+    uint16_t p0, p1;
+    if (sigbuf.available() >= 2) {
+        if (sigbuf.pop(p0)&&sigbuf.pop(p1)) {
+            widths0 = p0 - last_value;
+            widths1 = p1 - p0;
+            last_value = p1;
+            return true;
+        }
+    }
+    return false;
+}
+
+#endif // HAL_USE_EICU
+
+#endif //CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS

libraries/AP_HAL_ChibiOS/SoftSigReaderInt.h

@@ -0,0 +1,57 @@
+/*
+ * This file is free software: you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+  */
+#pragma once
+#include <AP_HAL/utility/RingBuffer.h>
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#include "AP_HAL_ChibiOS.h"
+
+#if HAL_USE_EICU == TRUE
+
+#define INPUT_CAPTURE_FREQUENCY 1000000 //capture unit in microseconds
+#define MAX_SIGNAL_TRANSITIONS 256
+
+
+class ChibiOS::SoftSigReaderInt {
+public:
+    SoftSigReaderInt();
+    /* Do not allow copies */
+    SoftSigReaderInt(const SoftSigReaderInt &other) = delete;
+    SoftSigReaderInt &operator=(const SoftSigReaderInt&) = delete;
+
+    // get singleton
+    static SoftSigReaderInt *get_instance(void)
+    {
+        return _instance;
+    }
+
+    void init(EICUDriver* icu_drv, eicuchannel_t chan);
+    bool read(uint32_t &widths0, uint32_t &widths1);
+private:
+    // singleton
+    static SoftSigReaderInt *_instance;
+
+    static void _irq_handler(EICUDriver *eicup, eicuchannel_t channel);
+
+    ObjectBuffer<uint16_t> sigbuf{MAX_SIGNAL_TRANSITIONS};
+    EICUConfig icucfg;
+    EICUChannelConfig channel_config;
+    EICUDriver* _icu_drv = nullptr;
+    uint16_t last_value;
+};
+
+#endif // HAL_USE_EICU
+

libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat

@@ -35,13 +35,11 @@ PC2 BAT_VOLT_SENS ADC1 SCALE(1)
 PA0 RSSI_IN ADC1
 
 #pwm output
-#PB0 TIM3_CH3 TIM3 PWM(1) GPIO(26)
-#PB1 TIM3_CH4 TIM3 PWM(2) GPIO(27)
 PB0 TIM1_CH2N TIM1 PWM(1) GPIO(26)
 PB1 TIM1_CH3N TIM1 PWM(2) GPIO(27)
-PA1 TIM2_CH2 TIM2 PWM(3) GPIO(15)
+PA3 TIM2_CH4 TIM2 PWM(3) GPIO(17)
 PA2 TIM2_CH3 TIM2 PWM(4) GPIO(16)
-PA3 TIM2_CH4 TIM2 PWM(5) GPIO(17)
+PA1 TIM2_CH2 TIM2 PWM(5) GPIO(15)
 PA8 TIM1_CH1 TIM1 PWM(6) GPIO(41)
 
 PA4 MPU6000_CS CS
@@ -79,8 +77,7 @@ PA11 OTG_FS_DM OTG1
 PA12 OTG_FS_DP OTG1
 PC5 VBUS INPUT OPENDRAIN
 
-#Native ppm_in ps is PB8, but it has not right timer.
-#PB8 TIM4_CH3 TIM4 RCIN PULLDOWN LOW DMA_CH1
+PB8 TIM4_CH3 TIM4 RCININT PULLDOWN LOW
 
 # SPI Device table 
 SPIDEV mpu6000    SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 8*MHZ
@@ -113,4 +110,4 @@ define HAL_GPIO_A_LED_PIN 57
 
 define STM32_PWM_USE_ADVANCED TRUE
 
-define BOARD_PWM_COUNT_DEFAULT 6
+define BOARD_PWM_COUNT_DEFAULT 6

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -578,6 +578,7 @@ def write_I2C_config(f):
 def write_PWM_config(f):
     '''write PWM config defines'''
     rc_in = None
+    rc_in_int = None
     alarm = None
     pwm_out = []
     pwm_timers = []
@@ -586,6 +587,8 @@ def write_PWM_config(f):
         if p.type.startswith('TIM'):
             if p.has_extra('RCIN'):
                 rc_in = p
+            elif p.has_extra('RCININT'):
+                rc_in_int = p
             elif p.has_extra('ALARM'):
                 alarm = p
             else:
@@ -620,6 +623,21 @@ def write_PWM_config(f):
         f.write('#define STM32_RCIN_DMA_STREAM STM32_TIM_TIM%u_CH%u_DMA_STREAM\n' % (n, int(chan_str)))
         f.write('#define STM32_RCIN_DMA_CHANNEL STM32_TIM_TIM%u_CH%u_DMA_CHAN\n' % (n, int(chan_str)))
         f.write('\n')
+        
+    if rc_in_int is not None:
+        a = rc_in_int.label.split('_')
+        chan_str = a[1][2:]
+        timer_str = a[0][3:]
+        if not is_int(chan_str) or not is_int(timer_str):
+            error("Bad timer channel %s" % rc_in.label)
+        n = int(a[0][3:])
+        f.write('// RC input config\n')
+        f.write('#define HAL_USE_EICU TRUE\n')
+        f.write('#define STM32_EICU_USE_TIM%u TRUE\n' % n)
+        f.write('#define RCININT_EICU_TIMER EICUD%u\n' % n)
+        f.write('#define RCININT_EICU_CHANNEL EICU_CHANNEL_%u\n' % int(chan_str))
+        f.write('\n')
+
     if alarm is not None:
 
         a = alarm.label.split('_')
@@ -972,7 +990,7 @@ def build_peripheral_list():
                 if label[-1] == 'N':
                     label = label[:-1]
                 peripherals.append(label)
-            elif not p.has_extra('ALARM'):
+            elif not p.has_extra('ALARM') and not p.has_extra('RCININT'):
                 # get the TIMn_UP DMA channels for DShot
                 label = type + '_UP'
                 if not label in peripherals: