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HAL_PX4: get RC input from PX4IO board

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this allows us to support DSM and SBUS receivers
This commit is contained in:
Andrew Tridgell 2013-01-27 12:51:34 +11:00
parent 72414085b2
commit 02b4ecc273
3 changed files with 40 additions and 16 deletions
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41
libraries/AP_HAL_PX4/RCInput.cpp
View File

@ -3,42 +3,47 @@
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include "RCInput.h"
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
using namespace PX4;
extern const AP_HAL::HAL& hal;
extern uint16_t ppm_buffer[];
extern unsigned ppm_decoded_channels;
extern uint64_t ppm_last_valid_decode;
void PX4RCInput::init(void* unused)
{
_perf_rcin = perf_alloc(PC_ELAPSED, "APM_rcin");
_rc_sub = orb_subscribe(ORB_ID(input_rc));
if (_rc_sub == -1) {
hal.scheduler->panic("Unable to subscribe to input_rc");
}
clear_overrides();
}
uint8_t PX4RCInput::valid()
{
return ppm_last_valid_decode != _last_read || _override_valid;
return _rcin.timestamp != _last_read || _override_valid;
}
uint16_t PX4RCInput::read(uint8_t ch)
{
_last_read = ppm_last_valid_decode;
_override_valid = false;
if (ch >= PX4_NUM_RCINPUT_CHANNELS) {
if (ch >= RC_INPUT_MAX_CHANNELS) {
return 0;
}
_last_read = _rcin.timestamp;
_override_valid = false;
if (_override[ch]) {
return _override[ch];
}
return ppm_buffer[ch];
if (ch >= _rcin.channel_count) {
return 0;
}
return _rcin.values[ch];
}
uint8_t PX4RCInput::read(uint16_t* periods, uint8_t len)
{
if (len > PX4_NUM_RCINPUT_CHANNELS) {
len = PX4_NUM_RCINPUT_CHANNELS;
if (len > RC_INPUT_MAX_CHANNELS) {
len = RC_INPUT_MAX_CHANNELS;
}
for (uint8_t i = 0; i < len; i++){
periods[i] = read(i);
@ -59,7 +64,7 @@ bool PX4RCInput::set_override(uint8_t channel, int16_t override) {
if (override < 0) {
return false; /* -1: no change. */
}
if (channel >= PX4_NUM_RCINPUT_CHANNELS) {
if (channel >= RC_INPUT_MAX_CHANNELS) {
return false;
}
_override[channel] = override;
@ -72,9 +77,19 @@ bool PX4RCInput::set_override(uint8_t channel, int16_t override) {
void PX4RCInput::clear_overrides()
{
for (uint8_t i = 0; i < PX4_NUM_RCINPUT_CHANNELS; i++) {
for (uint8_t i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
set_override(i, 0);
}
}
void PX4RCInput::_timer_tick(void)
{
perf_begin(_perf_rcin);
bool rc_updated = false;
if (orb_check(_rc_sub, &rc_updated) == 0 && rc_updated) {
orb_copy(ORB_ID(input_rc), _rc_sub, &_rcin);
}
perf_end(_perf_rcin);
}
#endif

11
libraries/AP_HAL_PX4/RCInput.h
View File

@ -3,8 +3,8 @@
#define __AP_HAL_PX4_RCINPUT_H__
#include <AP_HAL_PX4.h>
#define PX4_NUM_RCINPUT_CHANNELS 8
#include <drivers/drv_rc_input.h>
#include <systemlib/perf_counter.h>
class PX4::PX4RCInput : public AP_HAL::RCInput {
public:
@ -17,11 +17,16 @@ public:
bool set_override(uint8_t channel, int16_t override);
void clear_overrides();
void _timer_tick(void);
private:
/* override state */
uint16_t _override[PX4_NUM_RCINPUT_CHANNELS];
uint16_t _override[RC_INPUT_MAX_CHANNELS];
struct rc_input_values _rcin;
int _rc_sub;
uint64_t _last_read;
bool _override_valid;
perf_counter_t _perf_rcin;
};
#endif // __AP_HAL_PX4_RCINPUT_H__

4
libraries/AP_HAL_PX4/Scheduler.cpp
View File

@ -19,6 +19,7 @@
#include "UARTDriver.h"
#include "Storage.h"
#include "RCOutput.h"
#include "RCInput.h"
using namespace PX4;
@ -194,6 +195,9 @@ void *PX4Scheduler::_timer_thread(void)
// process any pending RC output requests
((PX4RCOutput *)hal.rcout)->_timer_tick();
// process any pending RC input requests
((PX4RCInput *)hal.rcin)->_timer_tick();
}
return NULL;
}