Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

HAL_ChibiOS: use software signal reader for RCInput if available

This commit is contained in:
bugobliterator 2018-01-18 01:00:21 +05:30 committed by Andrew Tridgell
parent 6be4c710c3
commit eeea2c9961
2 changed files with 34 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

28
libraries/AP_HAL_ChibiOS/RCInput.cpp
View File

@ -25,13 +25,14 @@
extern AP_IOMCU iomcu; extern AP_IOMCU iomcu;
#endif #endif
using namespace ChibiOS; using namespace ChibiOS;
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
void RCInput::init() void RCInput::init()
{ {
#if HAL_USE_EICU == TRUE #if HAL_USE_ICU == TRUE
ppm_init(1000000, false); //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 #endif
chMtxObjectInit(&rcin_mutex); chMtxObjectInit(&rcin_mutex);
_init = true; _init = true;
@ -166,12 +167,27 @@ void RCInput::_timer_tick(void)
if (!_init) { if (!_init) {
return; return;
} }
#if HAL_USE_EICU == TRUE #if HAL_USE_ICU == TRUE
if (ppm_available()) { uint32_t width_s0, width_s1;
while(sig_reader.read(width_s0, width_s1)) {
rcin_prot.process_pulse(width_s0, width_s1);
}
if (rcin_prot.new_input()) {
chMtxLock(&rcin_mutex); chMtxLock(&rcin_mutex);
_num_channels = ppm_read_bulk(_rc_values, RC_INPUT_MAX_CHANNELS);
_rcin_timestamp_last_signal = AP_HAL::micros(); _rcin_timestamp_last_signal = AP_HAL::micros();
_num_channels = rcin_prot.num_channels();
for (uint8_t i=0; i<_num_channels; i++) {
_rc_values[i] = rcin_prot.read(i);
}
chMtxUnlock(&rcin_mutex); chMtxUnlock(&rcin_mutex);
//TODO: adjust bounce buffer size appropriately per protocol type
if (rcin_prot.protocol_detected() == AP_RCProtocol::SBUS || rcin_prot.protocol_detected() == AP_RCProtocol::DSM) {
sig_reader.set_bounce_buf_size(128); //increase the buffer size if it isn't
} else {
sig_reader.set_bounce_buf_size(16);
}
} }
#endif #endif

12
libraries/AP_HAL_ChibiOS/RCInput.h
View File

@ -17,10 +17,16 @@
#pragma once #pragma once
#include "AP_HAL_ChibiOS.h" #include "AP_HAL_ChibiOS.h"
#include "SoftSigReader.h"
#ifdef HAL_RCINPUT_WITH_AP_RADIO #ifdef HAL_RCINPUT_WITH_AP_RADIO
#include <AP_Radio/AP_Radio.h> #include <AP_Radio/AP_Radio.h>
#endif #endif
#if HAL_USE_ICU == TRUE
#include <AP_RCProtocol/AP_RCProtocol.h>
#endif
#ifndef RC_INPUT_MAX_CHANNELS #ifndef RC_INPUT_MAX_CHANNELS
#define RC_INPUT_MAX_CHANNELS 18 #define RC_INPUT_MAX_CHANNELS 18
#endif #endif
@ -62,6 +68,12 @@ private:
AP_Radio *radio; AP_Radio *radio;
uint32_t last_radio_us; uint32_t last_radio_us;
#endif #endif
#ifdef HAL_USE_ICU
ChibiOS::SoftSigReader sig_reader;
AP_RCProtocol rcin_prot;
#endif
#if HAL_WITH_IO_MCU #if HAL_WITH_IO_MCU
uint32_t last_iomcu_us; uint32_t last_iomcu_us;
#endif #endif