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HAL_ChibiOS: display source of RC input

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distinguish between IOMCU, RCInput with bytes and RCInput with pulses
This commit is contained in:
Andrew Tridgell 2022-03-27 17:31:20 +11:00
parent 0ae1ac182a
commit 4bc35ba04d
2 changed files with 19 additions and 3 deletions
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13
libraries/AP_HAL_ChibiOS/RCInput.cpp
View File

@ -150,6 +150,7 @@ void RCInput::_timer_tick(void)
} }
#ifndef HAL_NO_UARTDRIVER #ifndef HAL_NO_UARTDRIVER
const char *rc_protocol = nullptr; const char *rc_protocol = nullptr;
RCSource source = last_source;
#endif #endif
#ifndef HAL_BUILD_AP_PERIPH #ifndef HAL_BUILD_AP_PERIPH
@ -191,12 +192,13 @@ void RCInput::_timer_tick(void)
_rx_link_quality = rcprot.get_rx_link_quality(); _rx_link_quality = rcprot.get_rx_link_quality();
#ifndef HAL_NO_UARTDRIVER #ifndef HAL_NO_UARTDRIVER
rc_protocol = rcprot.protocol_name(); rc_protocol = rcprot.protocol_name();
source = rcprot.using_uart() ? RCSource::RCPROT_BYTES : RCSource::RCPROT_PULSES;
#endif #endif
} }
#endif // HAL_BUILD_AP_PERIPH #endif // HAL_BUILD_AP_PERIPH
#if HAL_RCINPUT_WITH_AP_RADIO #if HAL_RCINPUT_WITH_AP_RADIO
if (radio && radio->last_recv_us() != last_radio_us) { if (radio && radio->last_recv_us() != last_radio_us && !have_iocmu_rc) {
last_radio_us = radio->last_recv_us(); last_radio_us = radio->last_recv_us();
WITH_SEMAPHORE(rcin_mutex); WITH_SEMAPHORE(rcin_mutex);
_rcin_timestamp_last_signal = last_radio_us; _rcin_timestamp_last_signal = last_radio_us;
@ -205,6 +207,9 @@ void RCInput::_timer_tick(void)
for (uint8_t i=0; i<_num_channels; i++) { for (uint8_t i=0; i<_num_channels; i++) {
_rc_values[i] = radio->read(i); _rc_values[i] = radio->read(i);
} }
#ifndef HAL_NO_UARTDRIVER
source = RCSource::APRADIO;
#endif
} }
#endif #endif
@ -218,15 +223,17 @@ void RCInput::_timer_tick(void)
#ifndef HAL_NO_UARTDRIVER #ifndef HAL_NO_UARTDRIVER
rc_protocol = iomcu.get_rc_protocol(); rc_protocol = iomcu.get_rc_protocol();
_rssi = iomcu.get_RSSI(); _rssi = iomcu.get_RSSI();
source = RCSource::IOMCU;
#endif #endif
} }
} }
#endif #endif
#ifndef HAL_NO_UARTDRIVER #ifndef HAL_NO_UARTDRIVER
if (rc_protocol && rc_protocol != last_protocol) { if (rc_protocol && (rc_protocol != last_protocol || source != last_source)) {
last_protocol = rc_protocol; last_protocol = rc_protocol;
GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "RCInput: decoding %s", last_protocol); last_source = source;
GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "RCInput: decoding %s(%u)", last_protocol, unsigned(source));
} }
#endif #endif

9
libraries/AP_HAL_ChibiOS/RCInput.h
View File

@ -72,6 +72,15 @@ private:
uint32_t _rcin_last_iomcu_ms; uint32_t _rcin_last_iomcu_ms;
bool _init; bool _init;
const char *last_protocol; const char *last_protocol;
enum class RCSource {
NONE = 0,
IOMCU = 1,
RCPROT_PULSES = 2,
RCPROT_BYTES = 3,
APRADIO = 4,
} last_source;
bool pulse_input_enabled; bool pulse_input_enabled;
#if HAL_RCINPUT_WITH_AP_RADIO #if HAL_RCINPUT_WITH_AP_RADIO