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AP_HAL_ChibiOS: add and use AP_RCPROTOCOL_ENABLED

This commit is contained in:
Peter Barker 2023-05-03 23:08:00 +10:00 committed by Andrew Tridgell
parent b7f3d25bed
commit 2d7123fcff
3 changed files with 32 additions and 7 deletions
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15
libraries/AP_HAL_ChibiOS/RCInput.cpp
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@ -21,6 +21,8 @@
#include "hwdef/common/ppm.h" #include "hwdef/common/ppm.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#include <AP_RCProtocol/AP_RCProtocol_config.h>
#if HAL_WITH_IO_MCU #if HAL_WITH_IO_MCU
#include <AP_BoardConfig/AP_BoardConfig.h> #include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_IOMCU/AP_IOMCU.h> #include <AP_IOMCU/AP_IOMCU.h>
@ -38,7 +40,7 @@ using namespace ChibiOS;
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
void RCInput::init() void RCInput::init()
{ {
#ifndef HAL_BUILD_AP_PERIPH #if AP_RCPROTOCOL_ENABLED
AP::RC().init(); AP::RC().init();
#endif #endif
@ -153,7 +155,7 @@ void RCInput::_timer_tick(void)
RCSource source = last_source; RCSource source = last_source;
#endif #endif
#ifndef HAL_BUILD_AP_PERIPH #if AP_RCPROTOCOL_ENABLED
AP_RCProtocol &rcprot = AP::RC(); AP_RCProtocol &rcprot = AP::RC();
#if HAL_USE_ICU == TRUE #if HAL_USE_ICU == TRUE
@ -176,16 +178,19 @@ void RCInput::_timer_tick(void)
} }
#endif #endif
#endif // AP_RCPROTOCOL_ENABLED
#if HAL_WITH_IO_MCU #if HAL_WITH_IO_MCU
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();
const bool have_iocmu_rc = (_rcin_last_iomcu_ms != 0 && now - _rcin_last_iomcu_ms < 400); const bool have_iocmu_rc = (_rcin_last_iomcu_ms != 0 && now - _rcin_last_iomcu_ms < 400);
if (!have_iocmu_rc) { if (!have_iocmu_rc) {
_rcin_last_iomcu_ms = 0; _rcin_last_iomcu_ms = 0;
} }
#else #elif AP_RCPROTOCOL_ENABLED || HAL_RCINPUT_WITH_AP_RADIO
const bool have_iocmu_rc = false; const bool have_iocmu_rc = false;
#endif #endif
#if AP_RCPROTOCOL_ENABLED
if (rcprot.new_input() && !have_iocmu_rc) { if (rcprot.new_input() && !have_iocmu_rc) {
WITH_SEMAPHORE(rcin_mutex); WITH_SEMAPHORE(rcin_mutex);
_rcin_timestamp_last_signal = AP_HAL::micros(); _rcin_timestamp_last_signal = AP_HAL::micros();
@ -199,7 +204,7 @@ void RCInput::_timer_tick(void)
source = rcprot.using_uart() ? RCSource::RCPROT_BYTES : RCSource::RCPROT_PULSES; source = rcprot.using_uart() ? RCSource::RCPROT_BYTES : RCSource::RCPROT_PULSES;
#endif #endif
} }
#endif // HAL_BUILD_AP_PERIPH #endif // AP_RCPROTOCOL_ENABLED
#if HAL_RCINPUT_WITH_AP_RADIO #if HAL_RCINPUT_WITH_AP_RADIO
if (radio && radio->last_recv_us() != last_radio_us && !have_iocmu_rc) { if (radio && radio->last_recv_us() != last_radio_us && !have_iocmu_rc) {
@ -259,7 +264,7 @@ bool RCInput::rc_bind(int dsmMode)
} }
#endif #endif
#ifndef HAL_BUILD_AP_PERIPH #if AP_RCPROTOCOL_ENABLED
// ask AP_RCProtocol to start a bind // ask AP_RCProtocol to start a bind
AP::RC().start_bind(); AP::RC().start_bind();
#endif #endif

20
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
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@ -3110,6 +3110,12 @@ INCLUDE common.ld
#define AP_RC_CHANNEL_ENABLED 0 #define AP_RC_CHANNEL_ENABLED 0
#endif #endif
#ifndef AP_RCPROTOCOL_ENABLED
#define AP_RCPROTOCOL_ENABLED 0
#endif
#define HAL_CRSF_TELEM_ENABLED 0
/* /*
* GPS Backends - we selectively turn backends on. * GPS Backends - we selectively turn backends on.
* Note also that f103-GPS explicitly disables some of these backends. * Note also that f103-GPS explicitly disables some of these backends.
@ -3223,6 +3229,18 @@ INCLUDE common.ld
#define AP_WINCH_ENABLED 0 #define AP_WINCH_ENABLED 0
#endif #endif
#ifndef AP_VIDEOTX_ENABLED
#define AP_VIDEOTX_ENABLED 0
#endif
#ifndef AP_FRSKY_TELEM_ENABLED
#define AP_FRSKY_TELEM_ENABLED 0
#endif
#ifndef HAL_SPEKTRUM_TELEM_ENABLED
#define HAL_SPEKTRUM_TELEM_ENABLED 0
#endif
// end AP_Periph defaults // end AP_Periph defaults
''') ''')
@ -3289,6 +3307,8 @@ INCLUDE common.ld
#define HAL_DSHOT_ALARM_ENABLED 0 #define HAL_DSHOT_ALARM_ENABLED 0
#define HAL_LOGGING_ENABLED 0
// IOMCUs *definitely* don't use the FFT library: // IOMCUs *definitely* don't use the FFT library:
#ifndef HAL_GYROFFT_ENABLED #ifndef HAL_GYROFFT_ENABLED
#define HAL_GYROFFT_ENABLED 0 #define HAL_GYROFFT_ENABLED 0

4
libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/hwdef.dat
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@ -170,8 +170,8 @@ define AP_WINCH_ENABLED 0
define AP_CAMERA_BACKEND_DEFAULT_ENABLED 0 define AP_CAMERA_BACKEND_DEFAULT_ENABLED 0
define AP_CAMERA_MAVLINK_ENABLED 1 define AP_CAMERA_MAVLINK_ENABLED 1
// remove RC Protocol support: # SkyViper uses AP_Radio, which does its own RC protocol decoding:
define AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED 0 define AP_RCPROTOCOL_ENABLED 0
// few prelcnad backends are applicable // few prelcnad backends are applicable
define AC_PRECLAND_BACKEND_DEFAULT_ENABLED 0 define AC_PRECLAND_BACKEND_DEFAULT_ENABLED 0