From eb026eef98529b714eff0d007c8208a156833a00 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sat, 28 Jul 2018 13:35:10 +0900 Subject: [PATCH] AP_RSSI: support pwm input on gpio pin --- libraries/AP_RSSI/AP_RSSI.cpp | 117 +++++++++++++++++++++++++++++++--- libraries/AP_RSSI/AP_RSSI.h | 21 +++++- 2 files changed, 128 insertions(+), 10 deletions(-) diff --git a/libraries/AP_RSSI/AP_RSSI.cpp b/libraries/AP_RSSI/AP_RSSI.cpp index e49793b6c2..7305f25e7a 100644 --- a/libraries/AP_RSSI/AP_RSSI.cpp +++ b/libraries/AP_RSSI/AP_RSSI.cpp @@ -14,8 +14,10 @@ */ #include +#include #include -#include +#include +#include extern const AP_HAL::HAL& hal; @@ -29,20 +31,21 @@ extern const AP_HAL::HAL& hal; #define BOARD_RSSI_ANA_PIN_HIGH 5.0f #endif +AP_RSSI::PWMState AP_RSSI::pwm_state; const AP_Param::GroupInfo AP_RSSI::var_info[] = { // @Param: TYPE // @DisplayName: RSSI Type // @Description: Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any. - // @Values: 0:Disabled,1:AnalogPin,2:RCChannelPwmValue,3:ReceiverProtocol + // @Values: 0:Disabled,1:AnalogPin,2:RCChannelPwmValue,3:ReceiverProtocol,4:PWMInputPin // @User: Standard AP_GROUPINFO_FLAGS("TYPE", 0, AP_RSSI, rssi_type, BOARD_RSSI_DEFAULT, AP_PARAM_FLAG_ENABLE), // @Param: ANA_PIN - // @DisplayName: Receiver RSSI analog sensing pin - // @Description: This selects an analog pin where the receiver RSSI voltage will be read. - // @Values: 0:APM2 A0,1:APM2 A1,13:APM2 A13,11:Pixracer,13:Pixhawk ADC4,14:Pixhawk ADC3,15:Pixhawk ADC6,103:Pixhawk SBUS,15:Pixhawk2 ADC + // @DisplayName: Receiver RSSI sensing pin + // @Description: pin used to read the RSSI voltage or pwm value + // @Values: 0:APM2 A0,1:APM2 A1,13:APM2 A13,11:Pixracer,13:Pixhawk ADC4,14:Pixhawk ADC3,15:Pixhawk ADC6,15:Pixhawk2 ADC,50:PixhawkAUX1,51:PixhawkAUX2,52:PixhawkAUX3,53:PixhawkAUX4,54:PixhawkAUX5,55:PixhawkAUX6,103:Pixhawk SBUS // @User: Standard AP_GROUPINFO("ANA_PIN", 1, AP_RSSI, rssi_analog_pin, BOARD_RSSI_ANA_PIN), @@ -72,8 +75,8 @@ const AP_Param::GroupInfo AP_RSSI::var_info[] = { AP_GROUPINFO("CHANNEL", 4, AP_RSSI, rssi_channel, 0), // @Param: CHAN_LOW - // @DisplayName: Receiver RSSI PWM low value - // @Description: This is the PWM value in microseconds that the radio receiver will put on the RSSI_CHANNEL when the signal strength is the weakest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a lower value than RSSI_CHAN_HIGH. + // @DisplayName: RSSI PWM low value + // @Description: PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers output inverted values so this value may be lower than RSSI_CHAN_HIGH // @Units: PWM // @Range: 0 2000 // @User: Standard @@ -81,7 +84,7 @@ const AP_Param::GroupInfo AP_RSSI::var_info[] = { // @Param: CHAN_HIGH // @DisplayName: Receiver RSSI PWM high value - // @Description: This is the PWM value in microseconds that the radio receiver will put on the RSSI_CHANNEL when the signal strength is the strongest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn't necessarily a higher value than RSSI_CHAN_LOW. + // @Description: PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers output inverted values so this value may be higher than RSSI_CHAN_LOW // @Units: PWM // @Range: 0 2000 // @User: Standard @@ -148,6 +151,9 @@ float AP_RSSI::read_receiver_rssi() } break; } + case RssiType::RSSI_PWM_PIN: + receiver_rssi = read_pwm_pin_rssi(); + break; default : receiver_rssi = 0.0f; break; @@ -183,6 +189,49 @@ float AP_RSSI::read_channel_rssi() return channel_rssi; } +// read the PWM value from a pin +float AP_RSSI::read_pwm_pin_rssi() +{ +#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN + // check if pin has changed and initialise gpio event callback + pwm_state.gpio = get_gpio(rssi_analog_pin); + if (pwm_state.gpio != pwm_state.last_gpio) { + + // remove old gpio event callback if present + if (pwm_state.last_gpio != 0) { + stm32_gpiosetevent(pwm_state.last_gpio, false, false, false, nullptr); + pwm_state.last_gpio = 0; + } + + // install interrupt handler on rising or falling edge of gpio + if (pwm_state.gpio != 0) { + stm32_gpiosetevent(pwm_state.gpio, true, true, false, irq_handler); + pwm_state.last_gpio = pwm_state.gpio; + } + } + + // disable interrupts temporarily + irqstate_t istate = irqsave(); + + // check for timeout + float ret; + if ((pwm_state.last_reading_ms == 0) || (AP_HAL::millis() - pwm_state.last_reading_ms > 1000)) { + pwm_state.value = 0; + ret = 0; + } else { + // convert pwm value to rssi value + ret = scale_and_constrain_float_rssi(pwm_state.value, rssi_channel_low_pwm_value, rssi_channel_high_pwm_value); + } + + // restore interrupts + irqrestore(istate); + + return ret; +#else + return 0.0f; +#endif +} + // Scale and constrain a float rssi value to 0.0 to 1.0 range float AP_RSSI::scale_and_constrain_float_rssi(float current_rssi_value, float low_rssi_range, float high_rssi_range) { @@ -213,6 +262,58 @@ float AP_RSSI::scale_and_constrain_float_rssi(float current_rssi_value, float lo return constrain_float(rssi_value_scaled, 0.0f, 1.0f); } +// get gpio id from pin number +uint32_t AP_RSSI::get_gpio(uint8_t pin_number) +{ +#ifdef GPIO_GPIO0_INPUT + switch (pin_number) { + case 50: + return GPIO_GPIO0_INPUT; + case 51: + return GPIO_GPIO1_INPUT; + case 52: + return GPIO_GPIO2_INPUT; + case 53: + return GPIO_GPIO3_INPUT; + case 54: + return GPIO_GPIO4_INPUT; + case 55: + return GPIO_GPIO5_INPUT; + } +#endif + return 0; +} + +// interrupt handler for reading pwm value +int AP_RSSI::irq_handler(int irq, void *context) +{ +#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN + // sanity check + if (pwm_state.gpio == 0) { + return 0; + } + + // capture time + uint64_t now = AP_HAL::micros64(); + + // read value of pin + bool pin_high = stm32_gpioread(pwm_state.gpio); + + // calculate pwm value + if (pin_high) { + pwm_state.pulse_start_us = now; + } else { + if (pwm_state.pulse_start_us != 0) { + pwm_state.value = now - pwm_state.pulse_start_us; + } + pwm_state.pulse_start_us = 0; + pwm_state.last_reading_ms = AP_HAL::millis(); + } +#endif + + return 0; +} + AP_RSSI *AP_RSSI::_s_instance = nullptr; namespace AP { diff --git a/libraries/AP_RSSI/AP_RSSI.h b/libraries/AP_RSSI/AP_RSSI.h index f766c9d0cf..3a2ab6f28d 100644 --- a/libraries/AP_RSSI/AP_RSSI.h +++ b/libraries/AP_RSSI/AP_RSSI.h @@ -25,7 +25,8 @@ public: RSSI_DISABLED = 0, RSSI_ANALOG_PIN = 1, RSSI_RC_CHANNEL_VALUE = 2, - RSSI_RECEIVER = 3 + RSSI_RECEIVER = 3, + RSSI_PWM_PIN = 4 }; AP_RSSI(); @@ -73,14 +74,30 @@ private: // a pin for reading the receiver RSSI voltage. AP_HAL::AnalogSource *rssi_analog_source; + // PWM input + static struct PWMState { + uint32_t gpio; // gpio pin used for reading pwm + uint32_t last_gpio; // last gpio pin used for reading pwm (used to recognise change in pin assignment) + uint32_t value; // last calculated pwm value + uint32_t last_reading_ms; // system time of last read (used for health reporting) + uint64_t pulse_start_us; // system time of start of pulse + } pwm_state; + // read the RSSI value from an analog pin - returns float in range 0.0 to 1.0 float read_pin_rssi(); // read the RSSI value from a PWM value on a RC channel float read_channel_rssi(); - // Scale and constrain a float rssi value to 0.0 to 1.0 range + // read the PWM value from a pin + float read_pwm_pin_rssi(); + + // Scale and constrain a float rssi value to 0.0 to 1.0 range float scale_and_constrain_float_rssi(float current_rssi_value, float low_rssi_range, float high_rssi_range); + + // PWM input handling + static uint32_t get_gpio(uint8_t pin_number); + static int irq_handler(int irq, void *context); }; namespace AP {