mirror of https://github.com/ArduPilot/ardupilot
130 lines
2.8 KiB
C++
130 lines
2.8 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_Math/AP_Math.h>
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#include <GCS_MAVLink/GCS.h>
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#include "AP_HAL_ESP32.h"
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#include "RCInput.h"
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using namespace ESP32;
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void RCInput::init()
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{
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if (_init) {
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return;
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}
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#ifndef HAL_BUILD_AP_PERIPH
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AP::RC().init();
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#endif
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#ifdef HAL_ESP32_RCIN
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sig_reader.init();
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#endif
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_init = true;
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}
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bool RCInput::new_input()
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{
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if (!_init) {
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return false;
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}
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bool valid;
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{
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WITH_SEMAPHORE(rcin_mutex);
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valid = _rcin_timestamp_last_signal != _last_read;
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_last_read = _rcin_timestamp_last_signal;
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}
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return valid;
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}
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uint8_t RCInput::num_channels()
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{
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if (!_init) {
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return 0;
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}
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return _num_channels;
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}
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uint16_t RCInput::read(uint8_t channel)
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{
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if (!_init || (channel >= MIN(RC_INPUT_MAX_CHANNELS, _num_channels))) {
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return 0;
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}
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uint16_t v;
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{
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WITH_SEMAPHORE(rcin_mutex);
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v = _rc_values[channel];
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}
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return v;
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}
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uint8_t RCInput::read(uint16_t* periods, uint8_t len)
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{
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if (!_init) {
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return false;
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}
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if (len > RC_INPUT_MAX_CHANNELS) {
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len = RC_INPUT_MAX_CHANNELS;
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}
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{
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WITH_SEMAPHORE(rcin_mutex);
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memcpy(periods, _rc_values, len*sizeof(periods[0]));
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}
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return len;
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}
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void RCInput::_timer_tick(void)
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{
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if (!_init) {
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return;
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}
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AP_RCProtocol &rcprot = AP::RC();
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#ifdef HAL_ESP32_RCIN
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uint32_t width_s0, width_s1;
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while (sig_reader.read(width_s0, width_s1)) {
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rcprot.process_pulse(width_s0, width_s1);
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}
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#ifndef HAL_NO_UARTDRIVER
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const char *rc_protocol = nullptr;
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#endif
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if (rcprot.new_input()) {
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WITH_SEMAPHORE(rcin_mutex);
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_rcin_timestamp_last_signal = AP_HAL::micros();
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_num_channels = rcprot.num_channels();
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_num_channels = MIN(_num_channels, RC_INPUT_MAX_CHANNELS);
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rcprot.read(_rc_values, _num_channels);
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_rssi = rcprot.get_RSSI();
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#ifndef HAL_NO_UARTDRIVER
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rc_protocol = rcprot.protocol_name();
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#endif
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}
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#ifndef HAL_NO_UARTDRIVER
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if (rc_protocol && rc_protocol != last_protocol) {
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last_protocol = rc_protocol;
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gcs().send_text(MAV_SEVERITY_DEBUG, "RCInput: decoding %s", last_protocol);
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}
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#endif
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#endif
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}
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