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HAL_ChibiOS: switch to AP::RC() for AP_RCProtocol

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This commit is contained in:
Andrew Tridgell 2019-08-27 17:43:30 +10:00
parent bf2cf7834d
commit c841b39ea2
2 changed files with 12 additions and 19 deletions
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24
libraries/AP_HAL_ChibiOS/RCInput.cpp
View File

@ -36,15 +36,15 @@ using namespace ChibiOS;
extern const AP_HAL::HAL& hal;
void RCInput::init()
{
AP::RC().init();
#if HAL_USE_ICU == TRUE
//attach timer channel on which the signal will be received
sig_reader.attach_capture_timer(&RCIN_ICU_TIMER, RCIN_ICU_CHANNEL, STM32_RCIN_DMA_STREAM, STM32_RCIN_DMA_CHANNEL);
rcin_prot.init();
#endif
#if HAL_USE_EICU == TRUE
sig_reader.init(&RCININT_EICU_TIMER, RCININT_EICU_CHANNEL);
rcin_prot.init();
#endif
_init = true;
@ -125,7 +125,7 @@ void RCInput::_timer_tick(void)
const uint32_t *p;
uint32_t n;
while ((p = (const uint32_t *)sig_reader.sigbuf.readptr(n)) != nullptr) {
rcin_prot.process_pulse_list(p, n*2, sig_reader.need_swap);
AP::RC().process_pulse_list(p, n*2, sig_reader.need_swap);
sig_reader.sigbuf.advance(n);
}
#endif
@ -133,7 +133,7 @@ void RCInput::_timer_tick(void)
#if HAL_USE_EICU == TRUE
uint32_t width_s0, width_s1;
while(sig_reader.read(width_s0, width_s1)) {
rcin_prot.process_pulse(width_s0, width_s1);
AP::RC().process_pulse(width_s0, width_s1);
}
#endif
@ -141,21 +141,19 @@ void RCInput::_timer_tick(void)
const char *rc_protocol = nullptr;
#endif
#if HAL_USE_ICU == TRUE || HAL_USE_EICU == TRUE
if (rcin_prot.new_input()) {
if (AP::RC().new_input()) {
rcin_mutex.take(HAL_SEMAPHORE_BLOCK_FOREVER);
_rcin_timestamp_last_signal = AP_HAL::micros();
_num_channels = rcin_prot.num_channels();
_num_channels = AP::RC().num_channels();
_num_channels = MIN(_num_channels, RC_INPUT_MAX_CHANNELS);
for (uint8_t i=0; i<_num_channels; i++) {
_rc_values[i] = rcin_prot.read(i);
_rc_values[i] = AP::RC().read(i);
}
rcin_mutex.give();
#ifndef HAL_NO_UARTDRIVER
rc_protocol = rcin_prot.protocol_name();
rc_protocol = AP::RC().protocol_name();
#endif
}
#endif
#if HAL_RCINPUT_WITH_AP_RADIO
if (radio && radio->last_recv_us() != last_radio_us) {
@ -207,11 +205,9 @@ bool RCInput::rc_bind(int dsmMode)
rcin_mutex.give();
#endif
#if HAL_USE_ICU == TRUE
// ask AP_RCProtocol to start a bind
rcin_prot.start_bind();
#endif
AP::RC().start_bind();
#if HAL_RCINPUT_WITH_AP_RADIO
if (radio) {
radio->start_recv_bind();

7
libraries/AP_HAL_ChibiOS/RCInput.h
View File

@ -23,17 +23,16 @@
#include <AP_Radio/AP_Radio.h>
#endif
#include <AP_RCProtocol/AP_RCProtocol.h>
#if HAL_USE_ICU == TRUE
#include "SoftSigReader.h"
#include <AP_RCProtocol/AP_RCProtocol.h>
#endif
#if HAL_USE_EICU == TRUE
#include "SoftSigReaderInt.h"
#include <AP_RCProtocol/AP_RCProtocol.h>
#endif
#ifndef RC_INPUT_MAX_CHANNELS
#define RC_INPUT_MAX_CHANNELS 18
#endif
@ -74,12 +73,10 @@ private:
#if HAL_USE_ICU == TRUE
ChibiOS::SoftSigReader sig_reader;
AP_RCProtocol rcin_prot;
#endif
#if HAL_USE_EICU == TRUE
ChibiOS::SoftSigReaderInt sig_reader;
AP_RCProtocol rcin_prot;
#endif
#if HAL_WITH_IO_MCU