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AP_Button: add debounce on PWM input 

Co-authored-by: jmachuca77 <jaime@element.aero>
This commit is contained in:
Peter Barker 2021-08-13 15:48:43 +10:00 committed by Andrew Tridgell
parent e0d03ce565
commit f465a9336e
2 changed files with 13 additions and 2 deletions
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13
libraries/AP_Button/AP_Button.cpp
View File

@ -201,9 +201,18 @@ void AP_Button::update(void)
}
}
}
const uint64_t now_ms = AP_HAL::millis64();
if (new_pwm_state != pwm_state) {
pwm_state = new_pwm_state;
last_debounce_ms = AP_HAL::millis64();
if (new_pwm_state != tentative_pwm_state) {
tentative_pwm_state = new_pwm_state;
pwm_start_debounce_ms = now_ms;
} else if (now_ms - pwm_start_debounce_ms > DEBOUNCE_MS) {
pwm_state = new_pwm_state;
last_debounce_ms = now_ms;
}
} else {
tentative_pwm_state = pwm_state;
pwm_start_debounce_ms = now_ms;
}
if (last_debounce_ms != 0 &&

2
libraries/AP_Button/AP_Button.h
View File

@ -76,6 +76,8 @@ private:
// current state of PWM pins:
uint8_t pwm_state;
uint8_t tentative_pwm_state; // for debouncing
uint64_t pwm_start_debounce_ms;
// mask indicating which action was most recent taken for pins
uint8_t state_actioned_mask;