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AP_IOMCU: added access to RC protocol name

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This commit is contained in:
Andrew Tridgell 2018-11-05 16:44:20 +11:00
parent a8e6a09903
commit 5771e0a90e
3 changed files with 16 additions and 0 deletions
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12
libraries/AP_IOMCU/AP_IOMCU.cpp
View File

@ -16,6 +16,7 @@
#include <AP_Math/crc.h>
#include <SRV_Channel/SRV_Channel.h>
#include <RC_Channel/RC_Channel.h>
#include <AP_RCProtocol/AP_RCProtocol.h>
extern const AP_HAL::HAL &hal;
@ -858,4 +859,15 @@ bool AP_IOMCU::setup_mixing(RCMapper *rcmap, int8_t override_chan,
return true;
}
/*
return the RC protocol name
*/
const char *AP_IOMCU::get_rc_protocol(void)
{
if (!is_chibios_backend) {
return nullptr;
}
return AP_RCProtocol::protocol_name_from_protocol((AP_RCProtocol::rcprotocol_t)rc_input.data);
}
#endif // HAL_WITH_IO_MCU

3
libraries/AP_IOMCU/AP_IOMCU.h
View File

@ -68,6 +68,9 @@ public:
// Do DSM receiver binding
void bind_dsm(uint8_t mode);
// get the name of the RC protocol
const char *get_rc_protocol(void);
/*
get servo rail voltage
*/

1
libraries/AP_IOMCU/iofirmware/iofirmware.cpp
View File

@ -288,6 +288,7 @@ void AP_IOMCU_FW::rcin_update()
rc_input.pwm[i] = hal.rcin->read(i);
}
rc_input.last_input_ms = last_ms;
rc_input.data = (uint16_t)rcprotocol->protocol_detected();
} else if (last_ms - rc_input.last_input_ms > 200U) {
rc_input.flags_rc_ok = false;
}