AP_HAL: removed RCInput valid_channels() and added new_input() and num_channels()

the valid_channels() method was inconsistently implemented between
boards, and served two quite different purposes. It is clearer as two
functions

libraries/AP_HAL/RCInput.h

@@ -18,12 +18,14 @@ public:
     virtual void init(void* implspecific) = 0;
 
     /**
-     * Return the number of currently valid channels.
-     * Typically 0 (no valid radio channels) or 8 (implementation-defined)
-     * Could be less than or greater than 8 depending on your incoming radio
-     * or PPM stream
+     * Return true if there has been new input since the last read() call
      */
-    virtual uint8_t  valid_channels() = 0;
+    virtual bool  new_input() = 0;
+
+    /**
+     * Return the number of valid channels in the last read
+     */
+    virtual uint8_t  num_channels() = 0;
 
     /* Read a single channel at a time */
     virtual uint16_t read(uint8_t ch) = 0;

libraries/AP_HAL/RCOutput.h

@@ -18,6 +18,12 @@
 #define CH_10 9
 #define CH_11 10
 #define CH_12 11
+#define CH_13 12
+#define CH_14 13
+#define CH_15 14
+#define CH_16 15
+#define CH_17 16
+#define CH_18 17
 #endif
 
 

libraries/AP_HAL_AVR/RCInput.h

@@ -17,13 +17,14 @@ public:
     void     init(void* isrregistry);
 
     /**
-     * valid_channels():
-     * Return the number of currently valid channels.
-     * Typically 0 (no valid radio channels) or 8 (implementation-defined)
-     * Could be less than or greater than 8 depending on your incoming radio
-     * or PPM stream
+     * Return true if new input since the last read()
      */
-    uint8_t  valid_channels();
+    bool  new_input();
+
+    /**
+     * Return the number of input channels in last read()
+     */
+    uint8_t num_channels();
 
     /**
      * read(uint8_t):
@@ -58,7 +59,8 @@ private:
     static void _timer4_capt_cb(void);
     /* private variables to communicate with input capture isr */
     static volatile uint16_t _pulse_capt[AVR_RC_INPUT_NUM_CHANNELS];
-    static volatile uint8_t  _valid_channels;
+    static volatile uint8_t  _num_channels;
+    static volatile bool     _new_input;
 
     /* override state */
     uint16_t _override[AVR_RC_INPUT_NUM_CHANNELS]; 
@@ -67,7 +69,8 @@ private:
 class AP_HAL_AVR::APM2RCInput : public AP_HAL::RCInput {
     /* Pass in a AP_HAL_AVR::ISRRegistry* as void*. */
     void     init(void* isrregistry);
-    uint8_t  valid_channels();
+    bool  new_input();
+    uint8_t num_channels();
     uint16_t read(uint8_t ch);
     uint8_t  read(uint16_t* periods, uint8_t len);
     bool set_overrides(int16_t *overrides, uint8_t len);
@@ -78,7 +81,8 @@ private:
     static void _timer5_capt_cb(void);
     /* private variables to communicate with input capture isr */
     static volatile uint16_t _pulse_capt[AVR_RC_INPUT_NUM_CHANNELS];
-    static volatile uint8_t  _valid_channels;
+    static volatile uint8_t  _num_channels;
+    static volatile bool  _new_input;
 
     /* override state */
     uint16_t _override[AVR_RC_INPUT_NUM_CHANNELS]; 

libraries/AP_HAL_AVR/RCInput_APM1.cpp

@@ -15,7 +15,8 @@ extern const HAL& hal;
 
 /* private variables to communicate with input capture isr */
 volatile uint16_t APM1RCInput::_pulse_capt[AVR_RC_INPUT_NUM_CHANNELS] = {0};  
-volatile uint8_t  APM1RCInput::_valid_channels = 0;
+volatile uint8_t  APM1RCInput::_num_channels = 0;
+volatile bool  APM1RCInput::_new_input = false;
 
 /* private callback for input capture ISR */
 void APM1RCInput::_timer4_capt_cb(void) {
@@ -34,7 +35,8 @@ void APM1RCInput::_timer4_capt_cb(void) {
     if (pulse_width > 8000) {
         // sync pulse detected.  Pass through values if at least a minimum number of channels received
         if( channel_ctr >= AVR_RC_INPUT_MIN_CHANNELS ) {
-            _valid_channels = channel_ctr;
+            _num_channels = channel_ctr;
+            _new_input = true;
         }
         channel_ctr = 0;
     } else {
@@ -42,7 +44,8 @@ void APM1RCInput::_timer4_capt_cb(void) {
             _pulse_capt[channel_ctr] = pulse_width;
             channel_ctr++;
             if (channel_ctr == AVR_RC_INPUT_NUM_CHANNELS) {
-                _valid_channels = AVR_RC_INPUT_NUM_CHANNELS;
+                _num_channels = AVR_RC_INPUT_NUM_CHANNELS;
+                _new_input = true;
             }
         }
     }
@@ -88,7 +91,9 @@ void APM1RCInput::init(void* _isrregistry) {
     SREG = oldSREG;    
 }
 
-uint8_t APM1RCInput::valid_channels() { return _valid_channels; }
+bool APM1RCInput::new_input() { return _new_input; }
+
+uint8_t APM1RCInput::num_channels() { return _num_channels; }
 
 
 /* constrain captured pulse to be between min and max pulsewidth. */
@@ -106,7 +111,7 @@ uint16_t APM1RCInput::read(uint8_t ch) {
     cli();
     uint16_t capt = _pulse_capt[ch];
     SREG = oldSREG;
-    _valid_channels = 0;
+    _new_input = false;
     /* scale _pulse_capt from 0.5us units to 1us units. */
     uint16_t pulse = constrain_pulse(capt >> 1);
     /* Check for override */
@@ -134,9 +139,8 @@ uint8_t APM1RCInput::read(uint16_t* periods, uint8_t len) {
             periods[i] = _override[i];
         }
     }
-    uint8_t v = _valid_channels;
-    _valid_channels = 0;
-    return v;
+    _new_input = false;
+    return _num_channels;
 }
 
 bool APM1RCInput::set_overrides(int16_t *overrides, uint8_t len) {
@@ -152,7 +156,7 @@ bool APM1RCInput::set_override(uint8_t channel, int16_t override) {
     if (channel < AVR_RC_INPUT_NUM_CHANNELS) {
         _override[channel] = override;
         if (override != 0) {
-            _valid_channels = 1;
+            _new_input = true;
             return true;
         }
     }

libraries/AP_HAL_AVR/RCInput_APM2.cpp

@@ -15,7 +15,8 @@ extern const HAL& hal;
 
 /* private variables to communicate with input capture isr */
 volatile uint16_t APM2RCInput::_pulse_capt[AVR_RC_INPUT_NUM_CHANNELS] = {0};  
-volatile uint8_t  APM2RCInput::_valid_channels = 0;
+volatile uint8_t  APM2RCInput::_num_channels = 0;
+volatile bool     APM2RCInput::_new_input = false;
 
 /* private callback for input capture ISR */
 void APM2RCInput::_timer5_capt_cb(void) {
@@ -34,7 +35,8 @@ void APM2RCInput::_timer5_capt_cb(void) {
     if (pulse_width > 8000) {
         // sync pulse detected.  Pass through values if at least a minimum number of channels received
         if( channel_ctr >= AVR_RC_INPUT_MIN_CHANNELS ) {
-            _valid_channels = channel_ctr;
+            _num_channels = channel_ctr;
+            _new_input = true;
         }
         channel_ctr = 0;
     } else {
@@ -42,7 +44,8 @@ void APM2RCInput::_timer5_capt_cb(void) {
             _pulse_capt[channel_ctr] = pulse_width;
             channel_ctr++;
             if (channel_ctr == AVR_RC_INPUT_NUM_CHANNELS) {
-                _valid_channels = AVR_RC_INPUT_NUM_CHANNELS;
+                _num_channels = AVR_RC_INPUT_NUM_CHANNELS;
+                _new_input = true;
             }
         }
     }
@@ -88,7 +91,8 @@ void APM2RCInput::init(void* _isrregistry) {
     SREG = oldSREG;
 }
 
-uint8_t APM2RCInput::valid_channels() { return _valid_channels; }
+bool APM2RCInput::new_input() { return _new_input; }
+uint8_t APM2RCInput::num_channels() { return _num_channels; }
 
 /* constrain captured pulse to be between min and max pulsewidth. */
 static inline uint16_t constrain_pulse(uint16_t p) {
@@ -106,7 +110,7 @@ uint16_t APM2RCInput::read(uint8_t ch) {
     cli();
     uint16_t capt = _pulse_capt[ch];
     SREG = oldSREG;
-    _valid_channels = 0;
+    _new_input = false;
     /* scale _pulse_capt from 0.5us units to 1us units. */
     uint16_t pulse = constrain_pulse(capt >> 1);
     /* Check for override */
@@ -134,9 +138,7 @@ uint8_t APM2RCInput::read(uint16_t* periods, uint8_t len) {
             periods[i] = _override[i];
         }
     }
-    uint8_t v = _valid_channels;
-    _valid_channels = 0;
-    return v;
+    return _num_channels;
 }
 
 bool APM2RCInput::set_overrides(int16_t *overrides, uint8_t len) {
@@ -152,7 +154,7 @@ bool APM2RCInput::set_override(uint8_t channel, int16_t override) {
     if (channel < AVR_RC_INPUT_NUM_CHANNELS) {
         _override[channel] = override;
         if (override != 0) {
-            _valid_channels = 1;
+            _new_input = true;
             return true;
         }
     }

libraries/AP_HAL_AVR/examples/RCInputTest/RCInputTest.pde

@@ -27,9 +27,9 @@ void multiread(AP_HAL::RCInput* in) {
 
 void individualread(AP_HAL::RCInput* in) {
     /* individual channel read method: */
-    uint8_t valid;
+    bool valid;
     uint16_t channels[8];
-    valid = in->valid_channels();
+    valid = in->new_input();
     for (int i = 0; i < 8; i++) {
         channels[i] = in->read(i);
     }

libraries/AP_HAL_AVR/examples/RCPassthroughTest/RCPassthroughTest.pde

@@ -26,8 +26,8 @@ void multiread(AP_HAL::RCInput* in, uint16_t* channels) {
 
 void individualread(AP_HAL::RCInput* in, uint16_t* channels) {
     /* individual channel read method: */
-    uint8_t valid;
-    valid = in->valid_channels();
+    bool valid;
+    valid = in->new_input();
     for (int i = 0; i < 8; i++) {
         channels[i] = in->read(i);
     }

libraries/AP_HAL_AVR_SITL/RCInput.cpp

@@ -12,12 +12,12 @@ void SITLRCInput::init(void* machtnichts)
     clear_overrides();
 }
 
-uint8_t SITLRCInput::valid_channels() {
-    return _sitlState->pwm_valid;
+bool SITLRCInput::new_input() {
+    return _sitlState->new_rc_input;
 }
 
 uint16_t SITLRCInput::read(uint8_t ch) {
-    _sitlState->pwm_valid = false;
+    _sitlState->new_rc_input = false;
     return _override[ch]? _override[ch] : _sitlState->pwm_input[ch];
 }
 
@@ -25,9 +25,8 @@ uint8_t SITLRCInput::read(uint16_t* periods, uint8_t len) {
     for (uint8_t i=0; i<len; i++) {
 	periods[i] = _override[i]? _override[i] : _sitlState->pwm_input[i];
     }
-    uint8_t v = _sitlState->pwm_valid;
-    _sitlState->pwm_valid = false;
-    return v;
+    _sitlState->new_rc_input = false;
+    return 8;
 }
 
 bool SITLRCInput::set_overrides(int16_t *overrides, uint8_t len) {

libraries/AP_HAL_AVR_SITL/RCInput.h

@@ -12,7 +12,8 @@ public:
 	    _sitlState = sitlState;
     }
     void init(void* machtnichts);
-    uint8_t  valid_channels();
+    bool  new_input();
+    uint8_t num_channels() { return 8; }
     uint16_t read(uint8_t ch);
     uint8_t read(uint16_t* periods, uint8_t len);
 

libraries/AP_HAL_AVR_SITL/SITL_State.cpp

@@ -73,7 +73,7 @@ SITL *SITL_State::_sitl;
 uint16_t SITL_State::pwm_output[11];
 uint16_t SITL_State::last_pwm_output[11];
 uint16_t SITL_State::pwm_input[8];
-bool SITL_State::pwm_valid;
+bool SITL_State::new_rc_input;
 
 // catch floating point exceptions
 void SITL_State::_sig_fpe(int signum)
@@ -263,7 +263,7 @@ void SITL_State::_timer_handler(int signum)
     // simulate RC input at 50Hz
     if (hal.scheduler->millis() - last_pwm_input >= 20 && _sitl->rc_fail == 0) {
         last_pwm_input = hal.scheduler->millis();
-        pwm_valid = true;
+        new_rc_input = true;
     }
 
 	/* check for packet from flight sim */

libraries/AP_HAL_AVR_SITL/SITL_State.h

@@ -39,7 +39,7 @@ public:
     static uint16_t pwm_output[11];
     static uint16_t last_pwm_output[11];
     static uint16_t pwm_input[8];
-    static bool pwm_valid;
+    static bool new_rc_input;
     static void loop_hook(void);
     uint16_t base_port(void) const { return _base_port; }
 

libraries/AP_HAL_Empty/RCInput.cpp

@@ -8,7 +8,11 @@ EmptyRCInput::EmptyRCInput()
 void EmptyRCInput::init(void* machtnichts)
 {}
 
-uint8_t EmptyRCInput::valid_channels() {
+bool EmptyRCInput::new_input() {
+    return false;
+}
+
+uint8_t EmptyRCInput::num_channels() {
     return 0;
 }
 

libraries/AP_HAL_Empty/RCInput.h

@@ -8,7 +8,8 @@ class Empty::EmptyRCInput : public AP_HAL::RCInput {
 public:
     EmptyRCInput();
     void init(void* machtnichts);
-    uint8_t  valid_channels();
+    bool  new_input();
+    uint8_t num_channels();
     uint16_t read(uint8_t ch);
     uint8_t read(uint16_t* periods, uint8_t len);
 

libraries/AP_HAL_FLYMAPLE/RCInput.cpp

@@ -127,9 +127,13 @@ void FLYMAPLERCInput::init(void* machtnichts)
     timer_resume(tdev); // reenabled
 }
 
-uint8_t FLYMAPLERCInput::valid_channels() {
+bool FLYMAPLERCInput::new_input() {
     if ((hal.scheduler->millis() - _last_input_interrupt_time) > 50)
 	_valid_channels = 0; // Lost RC Input?
+    return _valid_channels != 0;
+}
+
+uint8_t FLYMAPLERCInput::num_channels() {
     return _valid_channels;
 }
 

libraries/AP_HAL_FLYMAPLE/RCInput.h

@@ -29,7 +29,8 @@ class AP_HAL_FLYMAPLE_NS::FLYMAPLERCInput : public AP_HAL::RCInput {
 public:
     FLYMAPLERCInput();
     void init(void* machtnichts);
-    uint8_t  valid_channels();
+    bool new_input();
+    uint8_t num_channels();
     uint16_t read(uint8_t ch);
     uint8_t read(uint16_t* periods, uint8_t len);
 

libraries/AP_HAL_FLYMAPLE/examples/RCInput/RCInput.pde

@@ -11,8 +11,8 @@ const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 
 void multiread(AP_HAL::RCInput* in, uint16_t* channels) {
     /* Multi-channel read method: */
-    uint8_t valid;
-    valid = in->valid_channels();
+    bool valid;
+    valid = in->new_input();
     in->read(channels, 8);
     hal.console->printf_P(
             PSTR("multi      read %d: %d %d %d %d %d %d %d %d\r\n"),
@@ -23,8 +23,8 @@ void multiread(AP_HAL::RCInput* in, uint16_t* channels) {
 
 void individualread(AP_HAL::RCInput* in, uint16_t* channels) {
     /* individual channel read method: */
-    uint8_t valid;
-    valid = in->valid_channels();
+    bool valid;
+    valid = in->new_input();
     for (int i = 0; i < 8; i++) {
         channels[i] = in->read(i);
     }

libraries/AP_HAL_FLYMAPLE/examples/RCPassthroughTest/RCPassthroughTest.pde

@@ -22,8 +22,8 @@ void multiread(AP_HAL::RCInput* in, uint16_t* channels) {
 
 void individualread(AP_HAL::RCInput* in, uint16_t* channels) {
     /* individual channel read method: */
-    uint8_t valid;
-    valid = in->valid_channels();
+    bool valid;
+    valid = in->new_input();
     for (int i = 0; i < 8; i++) {
         channels[i] = in->read(i);
     }

libraries/AP_HAL_Linux/RCInput.cpp

@@ -11,7 +11,11 @@ LinuxRCInput::LinuxRCInput()
 void LinuxRCInput::init(void* machtnichts)
 {}
 
-uint8_t LinuxRCInput::valid_channels() {
+bool LinuxRCInput::new_input() {
+    return false;
+}
+
+uint8_t LinuxRCInput::num_channels() {
     return 0;
 }
 

libraries/AP_HAL_Linux/RCInput.h

@@ -8,7 +8,8 @@ class Linux::LinuxRCInput : public AP_HAL::RCInput {
 public:
     LinuxRCInput();
     void init(void* machtnichts);
-    uint8_t  valid_channels();
+    bool new_input();
+    uint8_t num_channels();
     uint16_t read(uint8_t ch);
     uint8_t read(uint16_t* periods, uint8_t len);
 

libraries/AP_HAL_PX4/RCInput.cpp

@@ -20,7 +20,7 @@ void PX4RCInput::init(void* unused)
         pthread_mutex_init(&rcin_mutex, NULL);
 }
 
-uint8_t PX4RCInput::valid_channels() 
+bool PX4RCInput::new_input() 
 {
     pthread_mutex_lock(&rcin_mutex);
     bool valid = _rcin.timestamp_last_signal != _last_read || _override_valid;
@@ -28,6 +28,14 @@ uint8_t PX4RCInput::valid_channels()
     return valid;
 }
 
+uint8_t PX4RCInput::num_channels() 
+{
+    pthread_mutex_lock(&rcin_mutex);
+    uint8_t n = _rcin.channel_count;
+    pthread_mutex_unlock(&rcin_mutex);
+    return n;
+}
+
 uint16_t PX4RCInput::read(uint8_t ch) 
 {
 	if (ch >= RC_INPUT_MAX_CHANNELS) {
@@ -101,7 +109,7 @@ void PX4RCInput::_timer_tick(void)
             orb_copy(ORB_ID(input_rc), _rc_sub, &_rcin);
             pthread_mutex_unlock(&rcin_mutex);
 	}
-        // note, we rely on the vehicle code checking valid_channels() 
+        // note, we rely on the vehicle code checking new_input() 
         // and a timeout for the last valid input to handle failsafe
 	perf_end(_perf_rcin);
 }

libraries/AP_HAL_PX4/RCInput.h

@@ -10,7 +10,8 @@
 class PX4::PX4RCInput : public AP_HAL::RCInput {
 public:
     void init(void* machtnichts);
-    uint8_t  valid_channels();
+    bool new_input();
+    uint8_t num_channels();
     uint16_t read(uint8_t ch);
     uint8_t read(uint16_t* periods, uint8_t len);
 
@@ -28,7 +29,6 @@ private:
     uint64_t _last_read;
     bool _override_valid;
     perf_counter_t _perf_rcin;
-
     pthread_mutex_t rcin_mutex;
 };