mirror of https://github.com/ArduPilot/ardupilot
77 lines
2.0 KiB
C++
77 lines
2.0 KiB
C++
#include <AP_HAL/HAL.h>
|
|
#include "RmtSigReader.h"
|
|
|
|
#ifdef HAL_ESP32_RCIN
|
|
|
|
using namespace ESP32;
|
|
|
|
void RmtSigReader::init()
|
|
{
|
|
rmt_config_t config;
|
|
config.rmt_mode = RMT_MODE_RX;
|
|
config.channel = RMT_CHANNEL_0;
|
|
config.clk_div = 80; //80MHZ APB clock to the 1MHZ target frequency
|
|
config.gpio_num = HAL_ESP32_RCIN;
|
|
config.mem_block_num = 2; //each block could store 64 pulses
|
|
config.rx_config.filter_en = true;
|
|
config.rx_config.filter_ticks_thresh = 8;
|
|
config.rx_config.idle_threshold = idle_threshold;
|
|
|
|
rmt_config(&config);
|
|
rmt_driver_install(config.channel, max_pulses * 8, 0);
|
|
rmt_get_ringbuf_handle(config.channel, &handle);
|
|
rmt_rx_start(config.channel, true);
|
|
}
|
|
|
|
bool RmtSigReader::add_item(uint32_t duration, bool level)
|
|
{
|
|
bool has_more = true;
|
|
if (duration == 0) {
|
|
has_more = false;
|
|
duration = idle_threshold;
|
|
}
|
|
if (level) {
|
|
if (last_high == 0) {
|
|
last_high = duration;
|
|
}
|
|
} else {
|
|
if (last_high != 0) {
|
|
ready_high = last_high;
|
|
ready_low = duration;
|
|
pulse_ready = true;
|
|
last_high = 0;
|
|
}
|
|
}
|
|
return has_more;
|
|
}
|
|
|
|
bool RmtSigReader::read(uint32_t &width_high, uint32_t &width_low)
|
|
{
|
|
if (item == nullptr) {
|
|
item = (rmt_item32_t*) xRingbufferReceive(handle, &item_size, 0);
|
|
item_size /= 4;
|
|
current_item = 0;
|
|
}
|
|
if (item == nullptr) {
|
|
return false;
|
|
}
|
|
bool buffer_empty = (current_item == item_size);
|
|
buffer_empty = buffer_empty ||
|
|
!add_item(item[current_item].duration0, item[current_item].level0);
|
|
buffer_empty = buffer_empty ||
|
|
!add_item(item[current_item].duration1, item[current_item].level1);
|
|
current_item++;
|
|
if (buffer_empty) {
|
|
vRingbufferReturnItem(handle, (void*) item);
|
|
item = nullptr;
|
|
}
|
|
if (pulse_ready) {
|
|
width_high = ready_high;
|
|
width_low = ready_low;
|
|
pulse_ready = false;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
#endif
|