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AP_RCProtocol: added multi-channel read() API

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and use pulse_input_enable() to disable pulse input when not needed
This commit is contained in:
Andrew Tridgell 2020-01-29 13:16:54 +11:00
parent 3105c6a050
commit 8e67c3459a
4 changed files with 22 additions and 0 deletions
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12
libraries/AP_RCProtocol/AP_RCProtocol.cpp
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@ -26,6 +26,8 @@
#include "AP_RCProtocol_FPort.h"
#include <AP_Math/AP_Math.h>
extern const AP_HAL::HAL& hal;
void AP_RCProtocol::init()
{
backend[AP_RCProtocol::PPM] = new AP_RCProtocol_PPMSum(*this);
@ -150,6 +152,9 @@ bool AP_RCProtocol::process_byte(uint8_t byte, uint32_t baudrate)
memset(_good_frames, 0, sizeof(_good_frames));
_last_input_ms = now;
_detected_with_bytes = true;
// stop decoding pulses to save CPU
hal.rcin->pulse_input_enable(false);
break;
}
}
@ -257,6 +262,13 @@ uint16_t AP_RCProtocol::read(uint8_t chan)
return 0;
}
void AP_RCProtocol::read(uint16_t *pwm, uint8_t n)
{
if (_detected_protocol != AP_RCProtocol::NONE) {
backend[_detected_protocol]->read(pwm, n);
}
}
int16_t AP_RCProtocol::get_RSSI(void) const
{
if (_detected_protocol != AP_RCProtocol::NONE) {

1
libraries/AP_RCProtocol/AP_RCProtocol.h
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@ -62,6 +62,7 @@ public:
uint8_t num_channels();
uint16_t read(uint8_t chan);
void read(uint16_t *pwm, uint8_t n);
bool new_input();
void start_bind(void);
int16_t get_RSSI(void) const;

8
libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp
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@ -46,6 +46,14 @@ uint16_t AP_RCProtocol_Backend::read(uint8_t chan)
return _pwm_values[chan];
}
void AP_RCProtocol_Backend::read(uint16_t *pwm, uint8_t n)
{
if (n >= MAX_RCIN_CHANNELS) {
n = MAX_RCIN_CHANNELS;
}
memcpy(pwm, _pwm_values, n*sizeof(pwm[0]));
}
/*
provide input from a backend
*/

1
libraries/AP_RCProtocol/AP_RCProtocol_Backend.h
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@ -28,6 +28,7 @@ public:
virtual void process_pulse(uint32_t width_s0, uint32_t width_s1) {}
virtual void process_byte(uint8_t byte, uint32_t baudrate) {}
uint16_t read(uint8_t chan);
void read(uint16_t *pwm, uint8_t n);
bool new_input();
uint8_t num_channels();