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AP_HAL_ESP32: enable uart rc

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Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
This commit is contained in:
Rhys Mainwaring 2024-11-16 13:10:16 +00:00 committed by Peter Barker
parent 52efe952cd
commit f9e319d114
2 changed files with 90 additions and 18 deletions
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76
libraries/AP_HAL_ESP32/RCInput.cpp
View File

@ -12,14 +12,24 @@
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_Math/AP_Math.h>
#include <GCS_MAVLink/GCS.h>
#include "AP_HAL_ESP32.h"
#include "RCInput.h"
#include <AP_RCProtocol/AP_RCProtocol_config.h>
#include <AP_Math/AP_Math.h>
#ifndef HAL_NO_UARTDRIVER
#include <GCS_MAVLink/GCS.h>
#endif
using namespace ESP32;
extern const AP_HAL::HAL& hal;
void RCInput::init()
{
if (_init) {
@ -31,10 +41,26 @@ void RCInput::init()
#ifdef HAL_ESP32_RCIN
sig_reader.init();
pulse_input_enabled = true;
#endif
_init = true;
}
/*
enable or disable pulse input for RC input. This is used to reduce
load when we are decoding R/C via a UART
*/
void RCInput::pulse_input_enable(bool enable)
{
pulse_input_enabled = enable;
#if HAL_ESP32_RCIN
if (!enable) {
sig_reader.disable();
}
#endif
}
bool RCInput::new_input()
{
if (!_init) {
@ -89,23 +115,29 @@ uint8_t RCInput::read(uint16_t* periods, uint8_t len)
void RCInput::_timer_tick(void)
{
#if AP_RCPROTOCOL_ENABLED
if (!_init) {
return;
}
#ifndef HAL_NO_UARTDRIVER
const char *rc_protocol = nullptr;
RCSource source = last_source;
#endif
#if AP_RCPROTOCOL_ENABLED
AP_RCProtocol &rcprot = AP::RC();
#ifdef HAL_ESP32_RCIN
uint32_t width_s0, width_s1;
while (sig_reader.read(width_s0, width_s1)) {
rcprot.process_pulse(width_s0, width_s1);
if (pulse_input_enabled) {
uint32_t width_s0, width_s1;
while (sig_reader.read(width_s0, width_s1)) {
rcprot.process_pulse(width_s0, width_s1);
}
}
#ifndef HAL_NO_UARTDRIVER
const char *rc_protocol = nullptr;
#endif
#endif // AP_RCPROTOCOL_ENABLED
#if AP_RCPROTOCOL_ENABLED
if (rcprot.new_input()) {
WITH_SEMAPHORE(rcin_mutex);
_rcin_timestamp_last_signal = AP_HAL::micros();
@ -113,18 +145,36 @@ void RCInput::_timer_tick(void)
_num_channels = MIN(_num_channels, RC_INPUT_MAX_CHANNELS);
rcprot.read(_rc_values, _num_channels);
_rssi = rcprot.get_RSSI();
_rx_link_quality = rcprot.get_rx_link_quality();
#ifndef HAL_NO_UARTDRIVER
rc_protocol = rcprot.protocol_name();
source = rcprot.using_uart() ? RCSource::RCPROT_BYTES : RCSource::RCPROT_PULSES;
// printf("RCInput: decoding %s", last_protocol);
#endif
}
#endif // AP_RCPROTOCOL_ENABLED
#ifndef HAL_NO_UARTDRIVER
if (rc_protocol && rc_protocol != last_protocol) {
if (rc_protocol && (rc_protocol != last_protocol || source != last_source)) {
last_protocol = rc_protocol;
GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "RCInput: decoding %s", last_protocol);
last_source = source;
GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "RCInput: decoding %s(%u)", last_protocol, unsigned(source));
}
#endif
#endif
#endif // AP_RCPROTOCOL_ENABLED
// note, we rely on the vehicle code checking new_input()
// and a timeout for the last valid input to handle failsafe
}
/*
start a bind operation, if supported
*/
bool RCInput::rc_bind(int dsmMode)
{
#if AP_RCPROTOCOL_ENABLED
// ask AP_RCProtocol to start a bind
AP::RC().start_bind();
#endif
return true;
}

32
libraries/AP_HAL_ESP32/RCInput.h
View File

@ -17,9 +17,10 @@
#include "AP_HAL_ESP32.h"
#include "Semaphores.h"
#include "RmtSigReader.h"
#include <AP_RCProtocol/AP_RCProtocol.h>
#include "RmtSigReader.h"
#ifndef RC_INPUT_MAX_CHANNELS
#define RC_INPUT_MAX_CHANNELS 18
@ -33,21 +34,42 @@ public:
uint8_t num_channels() override;
uint16_t read(uint8_t ch) override;
uint8_t read(uint16_t* periods, uint8_t len) override;
void _timer_tick(void);
const char *protocol() const override
{
return last_protocol;
/* enable or disable pulse input for RC input. This is used to
reduce load when we are decoding R/C via a UART */
void pulse_input_enable(bool enable) override;
int16_t get_rssi(void) override {
return _rssi;
}
int16_t get_rx_link_quality(void) override {
return _rx_link_quality;
}
const char *protocol() const override { return last_protocol; }
void _timer_tick(void);
bool rc_bind(int dsmMode) override;
private:
uint16_t _rc_values[RC_INPUT_MAX_CHANNELS] = {0};
uint64_t _last_read;
uint8_t _num_channels;
Semaphore rcin_mutex;
int16_t _rssi = -1;
int16_t _rx_link_quality = -1;
uint32_t _rcin_timestamp_last_signal;
bool _init;
const char *last_protocol;
enum class RCSource {
NONE = 0,
IOMCU = 1,
RCPROT_PULSES = 2,
RCPROT_BYTES = 3,
} last_source;
bool pulse_input_enabled;
ESP32::RmtSigReader sig_reader;
};