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AP_HAL_Linux: combine ppm and sbus on ocpoc_zynq 

Removes compile-time selection of RCInput driver for ocpoc_zynq.
PPM and SBUS input are now colocated on the ocpoc board, and it
only needs to run RCInput_ZYNQ. Pulse input is also inverted
to accommodate SBUS input, which has no effect on PPM input.
This commit is contained in:
alexshirley 2017-11-01 11:22:10 -05:00 committed by Lucas De Marchi
parent 065b00eb81
commit 8058fdf093
2 changed files with 4 additions and 9 deletions
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9
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
View File

@ -141,14 +141,9 @@ static RCInput_AioPRU rcinDriver;
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
static RCInput_RPI rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
static RCInput_ZYNQ rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
#if OCPOC_DEFAULT_RCIN_SBUS
static RCInput_SBUS rcinDriver;
#else
static RCInput_ZYNQ rcinDriver;
#endif
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
static RCInput_UDP rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE

4
libraries/AP_HAL_Linux/RCInput_ZYNQ.cpp
View File

@ -17,7 +17,7 @@
#include "GPIO.h"
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
#define RCIN_ZYNQ_PULSE_INPUT_BASE 0x43c70000
#define RCIN_ZYNQ_PULSE_INPUT_BASE 0x43ca0000
#else
#define RCIN_ZYNQ_PULSE_INPUT_BASE 0x43c10000
#endif
@ -49,7 +49,7 @@ void RCInput_ZYNQ::_timer_tick()
// all F's means no samples available
while((v = *pulse_input) != 0xffffffff) {
// Hi bit indicates pin state, low bits denote pulse length
if(!(v & 0x80000000))
if(v & 0x80000000)
_s0_time = (v & 0x7fffffff)/TICK_PER_US;
else
_process_rc_pulse(_s0_time, (v & 0x7fffffff)/TICK_PER_US);