RC_Channel: ported to AP_HAL

* keeping everyone honest
* remove second unmaintained unit test:  No idea wtf is going on in there.

libraries/RC_Channel/RC_Channel.cpp

@@ -10,21 +10,22 @@
  *
  */
 
+#include <stdlib.h>
 #include <math.h>
-#include <avr/eeprom.h>
-#if defined(ARDUINO) && ARDUINO >= 100
- #include "Arduino.h"
-#else
- #include "WProgram.h"
-#endif
+
+#include <AP_HAL.h>
+extern const AP_HAL::HAL& hal;
+
+#include <AP_Math.h>
+
 #include "RC_Channel.h"
 
-/// global array with pointers to all APM RC channels, will be used by AP_Mount and AP_Camera classes
-/// It points to RC input channels, both APM1 and APM2 only have 8 input channels.
+#define NUM_CHANNELS 8
+/// global array with pointers to all APM RC channels, will be used by AP_Mount
+/// and AP_Camera classes / It points to RC input channels, both APM1 and APM2
+/// only have 8 input channels.
 RC_Channel* rc_ch[NUM_CHANNELS];
 
-APM_RC_Class *RC_Channel::_apm_rc;
-
 const AP_Param::GroupInfo RC_Channel::var_info[] PROGMEM = {
     // @Param: MIN
     // @DisplayName: RC min PWM
@@ -310,25 +311,19 @@ RC_Channel::norm_output()
     return ret;
 }
 
-void RC_Channel::set_apm_rc( APM_RC_Class * apm_rc )
+void RC_Channel::output()
 {
-    _apm_rc = apm_rc;
-}
-
-void
-RC_Channel::output()
-{
-    _apm_rc->OutputCh(_ch_out, radio_out);
+    hal.rcout->write(_ch_out, radio_out);
 }
 
 void
 RC_Channel::input()
 {
-    radio_in = _apm_rc->InputCh(_ch_out);
+    radio_in = hal.rcin->read(_ch_out);
 }
 
 void
 RC_Channel::enable_out()
 {
-    _apm_rc->enable_out(_ch_out);
+    hal.rcout->enable_ch(_ch_out);
 }

libraries/RC_Channel/RC_Channel.h

@@ -3,12 +3,15 @@
 /// @file	RC_Channel.h
 /// @brief	RC_Channel manager, with EEPROM-backed storage of constants.
 
-#ifndef RC_Channel_h
-#define RC_Channel_h
+#ifndef __RC_CHANNEL_H__
+#define __RC_CHANNEL_H__
 
 #include <AP_Common.h>
 #include <AP_Param.h>
-#include <APM_RC.h>
+
+#define RC_CHANNEL_TYPE_ANGLE 0
+#define RC_CHANNEL_TYPE_RANGE 1
+#define RC_CHANNEL_TYPE_ANGLE_RAW 2
 
 #define RC_CHANNEL_TYPE_ANGLE       0
 #define RC_CHANNEL_TYPE_RANGE       1
@@ -91,11 +94,9 @@ public:
     int16_t                                         pwm_to_range();
     int16_t                                         range_to_pwm();
 
-    static void                                     set_apm_rc(APM_RC_Class * apm_rc);
     void                                            output();
     void                                            input();
     void                                            enable_out();
-    static APM_RC_Class *                           _apm_rc;
 
     static const struct AP_Param::GroupInfo         var_info[];
 
@@ -110,7 +111,7 @@ private:
     uint8_t         _ch_out;
 };
 
-// This is ugly, but it fixes compilation on arduino
+// This is ugly, but it fixes poorly architected library
 #include "RC_Channel_aux.h"
 
 #endif

libraries/RC_Channel/RC_Channel_aux.cpp

@@ -1,8 +1,11 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
 
-#include <APM_RC.h>
 #include "RC_Channel_aux.h"
 
+#include <AP_Math.h>
+#include <AP_HAL.h>
+extern const AP_HAL::HAL& hal;
+
 const AP_Param::GroupInfo RC_Channel_aux::var_info[] PROGMEM = {
     AP_NESTEDGROUPINFO(RC_Channel, 0),
 
@@ -31,7 +34,7 @@ RC_Channel_aux::output_ch(unsigned char ch_nr)
         radio_out = radio_in;
         break;
     }
-    _apm_rc->OutputCh(ch_nr, radio_out);
+    hal.rcout->write(ch_nr, radio_out);
 }
 
 /// Update the _aux_channels array of pointers to rc_x channels

libraries/RC_Channel/RC_Channel_aux.h

@@ -4,8 +4,8 @@
 /// @brief	RC_Channel manager for auxiliary channels (5..8), with EEPROM-backed storage of constants.
 /// @author Amilcar Lucas
 
-#ifndef RC_CHANNEL_AUX_H_
-#define RC_CHANNEL_AUX_H_
+#ifndef __RC_CHANNEL_AUX_H__
+#define __RC_CHANNEL_AUX_H__
 
 #include "RC_Channel.h"
 

libraries/RC_Channel/examples/RC_Channel/RC_Channel.pde

@@ -4,45 +4,6 @@
  *       DIYDrones.com
  *
  */
-
-#include <FastSerial.h>
-#include <AP_Common.h>          // ArduPilot Mega Common Library
-#include <AP_Param.h>
-#include <Arduino_Mega_ISR_Registry.h>
-#include <AP_Math.h>        // ArduPilot Mega Vector/Matrix math Library
-#include <APM_RC.h>             // ArduPilot Mega RC Library
-#include <RC_Channel.h>         // ArduPilot Mega RC Library
-
-// define APM1 or APM2
-#define APM_HARDWARE_APM1       1
-#define APM_HARDWARE_APM2       2
-
-// set your hardware type here
-#define CONFIG_APM_HARDWARE APM_HARDWARE_APM2
-
-Arduino_Mega_ISR_Registry isr_registry;
-
-////////////////////////////////////////////////////////////////////////////////
-// Serial ports
-////////////////////////////////////////////////////////////////////////////////
-//
-// Note that FastSerial port buffers are allocated at ::begin time,
-// so there is not much of a penalty to defining ports that we don't
-// use.
-//
-FastSerialPort0(Serial);        // FTDI/console
-FastSerialPort1(Serial1);       // GPS port
-FastSerialPort3(Serial3);       // Telemetry port
-
-////////////////////////////////////////////
-// RC Hardware
-////////////////////////////////////////////
-#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
-APM_RC_APM2 APM_RC;
-#else
-APM_RC_APM1 APM_RC;
-#endif
-
 #define CH_1 0
 #define CH_2 1
 #define CH_3 2
@@ -52,6 +13,15 @@ APM_RC_APM1 APM_RC;
 #define CH_7 6
 #define CH_8 7
 
+#include <AP_Common.h>
+#include <AP_Progmem.h>
+#include <AP_HAL.h>
+#include <AP_Param.h>
+#include <AP_Math.h>
+#include <RC_Channel.h>
+
+#include <AP_HAL_AVR.h>
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
 
 RC_Channel rc_1(CH_1);
 RC_Channel rc_2(CH_2);
@@ -63,17 +33,11 @@ RC_Channel rc_7(CH_7);
 RC_Channel rc_8(CH_8);
 RC_Channel *rc = &rc_1;
 
+
 void setup()
 {
-    Serial.begin(115200);
-    Serial.println("ArduPilot RC Channel test");
-    isr_registry.init();
-    APM_RC.Init( &isr_registry );               // APM Radio initialization
-
-
-    delay(500);
-
-    // setup radio
+    hal.console->println("ArduPilot RC Channel test");
+    hal.scheduler->delay(500);
 
     // interactive setup
     setup_radio();
@@ -81,26 +45,31 @@ void setup()
     print_radio_values();
 
     // set type of output, symmetrical angles or a number range;
+    // XXX BROKEN
     rc_1.set_angle(4500);
     rc_1.set_dead_zone(80);
+    rc_1.set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
+
+    // XXX BROKEN
     rc_2.set_angle(4500);
     rc_2.set_dead_zone(80);
+    rc_2.set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
+
     rc_3.set_range(0,1000);
     rc_3.set_dead_zone(20);
+
     rc_4.set_angle(6000);
     rc_4.set_dead_zone(500);
+    rc_4.set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
+
     rc_5.set_range(0,1000);
     rc_6.set_range(200,800);
+
     rc_7.set_range(0,1000);
+
     rc_8.set_range(0,1000);
 
-#if 0
-    for (byte i=0; i<8; i++) {
-	    rc[i].set_reverse(false);
-    }
-#endif
-
-    for (byte i = 0; i < 30; i++) {
+    for (int i = 0; i < 30; i++) {
         read_radio();
     }
     rc_1.trim();
@@ -110,32 +79,52 @@ void setup()
 
 void loop()
 {
-    delay(20);
+    hal.scheduler->delay(20);
+    debug_rcin();
     read_radio();
     print_pwm();
 }
 
+void debug_rcin() {
+    uint16_t channels[8];
+    hal.rcin->read(channels, 8);
+    hal.console->printf_P(
+        PSTR("rcin: %u %u %u %u %u %u %u %u\r\n"),
+        channels[0],
+        channels[1],
+        channels[2],
+        channels[3],
+        channels[4],
+        channels[5],
+        channels[6],
+        channels[7]);
+}
 
 void read_radio()
 {
-    for (byte i=0; i<8; i++) {
-	    rc[i].set_pwm(APM_RC.InputCh(CH_1+i));
-    }
+    rc_1.set_pwm(hal.rcin->read(CH_1));
+    rc_2.set_pwm(hal.rcin->read(CH_2));
+    rc_3.set_pwm(hal.rcin->read(CH_3));
+    rc_4.set_pwm(hal.rcin->read(CH_4));
+    rc_5.set_pwm(hal.rcin->read(CH_5));
+    rc_6.set_pwm(hal.rcin->read(CH_6));
+    rc_7.set_pwm(hal.rcin->read(CH_7));
+    rc_8.set_pwm(hal.rcin->read(CH_8));
 }
 
 void print_pwm()
 {
-    for (byte i=0; i<8; i++) {
-	    Serial.printf("ch%u: %4d ", (unsigned)i+1, (int)rc[i].control_in);
+    for (int i=0; i<8; i++) {
+	    hal.console->printf("ch%u: %4d ", (unsigned)i+1, (int)rc[i].control_in);
     }
-    Serial.printf("\n");
+    hal.console->printf("\n");
 }
 
-void
-print_radio_values()
+
+void print_radio_values()
 {
-    for (byte i=0; i<8; i++) {
-	    Serial.printf("CH%u: %u|%u\n",
+    for (int i=0; i<8; i++) {
+	     hal.console->printf("CH%u: %u|%u\n",
 			  (unsigned)i+1, 
 			  (unsigned)rc[i].radio_min, 
 			  (unsigned)rc[i].radio_max); 
@@ -146,11 +135,11 @@ print_radio_values()
 void
 setup_radio()
 {
-	Serial.println("\n\nRadio Setup:");
+	hal.console->println("\n\nRadio Setup:");
 	uint8_t i;
 	
 	for(i = 0; i < 100;i++){
-		delay(20);
+		hal.scheduler->delay(20);
 		read_radio();
 	}
 		
@@ -181,10 +170,10 @@ setup_radio()
 	rc_7.radio_trim = 1500;
 	rc_8.radio_trim = 1500;
 			
-	Serial.println("\nMove all controls to each extreme. Hit Enter to save:");
+	hal.console->println("\nMove all controls to each extreme. Hit Enter to save:");
 	while(1){
 		
-		delay(20);
+		hal.scheduler->delay(20);
 		// Filters radio input - adjust filters in the radio.pde file
 		// ----------------------------------------------------------
 		read_radio();
@@ -198,13 +187,12 @@ setup_radio()
 		rc_7.update_min_max();
 		rc_8.update_min_max();
 		
-		if(Serial.available() > 0){
-			//rc_3.radio_max += 250;
-			Serial.flush();
-			
-			Serial.println("Radio calibrated, Showing control values:");
-			break;
-		}
-	}
-	return;
+        if(hal.console->available() > 0) {
+            hal.console->println("Radio calibrated, Showing control values:");
+            break;
+        }
+    }
+    return;
 }
+
+AP_HAL_MAIN();

libraries/RC_Channel/examples/RC_Channel2/Makefile

@@ -1,2 +0,0 @@
-BOARD	=	mega
-include ../../../AP_Common/Arduino.mk