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HAL_Linux: fixed a bug in RCInput::new_input

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when a library called read() it would clear the new input flag, which
would cause new_input() in the main loop to return false. This could
trigger a false RC failsafe.
This commit is contained in:
Andrew Tridgell 2017-01-08 12:37:07 +11:00 committed by Lucas De Marchi
parent 9b7f0f7957
commit 0a18f5e7b2
3 changed files with 20 additions and 17 deletions
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32
libraries/AP_HAL_Linux/RCInput.cpp
View File

@ -25,8 +25,7 @@ extern const AP_HAL::HAL& hal;
using namespace Linux; using namespace Linux;
RCInput::RCInput() : RCInput::RCInput()
new_rc_input(false)
{ {
ppm_state._channel_counter = -1; ppm_state._channel_counter = -1;
} }
@ -37,7 +36,11 @@ void RCInput::init()
bool RCInput::new_input() bool RCInput::new_input()
{ {
return new_rc_input; bool ret = rc_input_count != last_rc_input_count;
if (ret) {
last_rc_input_count = rc_input_count;
}
return ret;
} }
uint8_t RCInput::num_channels() uint8_t RCInput::num_channels()
@ -47,7 +50,6 @@ uint8_t RCInput::num_channels()
uint16_t RCInput::read(uint8_t ch) uint16_t RCInput::read(uint8_t ch)
{ {
new_rc_input = false;
if (_override[ch]) { if (_override[ch]) {
return _override[ch]; return _override[ch];
} }
@ -84,7 +86,7 @@ bool RCInput::set_override(uint8_t channel, int16_t override)
if (channel < LINUX_RC_INPUT_NUM_CHANNELS) { if (channel < LINUX_RC_INPUT_NUM_CHANNELS) {
_override[channel] = override; _override[channel] = override;
if (override != 0) { if (override != 0) {
new_rc_input = true; rc_input_count++;
return true; return true;
} }
} }
@ -112,7 +114,7 @@ void RCInput::_process_ppmsum_pulse(uint16_t width_usec)
_pwm_values[i] = ppm_state._pulse_capt[i]; _pwm_values[i] = ppm_state._pulse_capt[i];
} }
_num_channels = ppm_state._channel_counter; _num_channels = ppm_state._channel_counter;
new_rc_input = true; rc_input_count++;
} }
ppm_state._channel_counter = 0; ppm_state._channel_counter = 0;
return; return;
@ -143,7 +145,7 @@ void RCInput::_process_ppmsum_pulse(uint16_t width_usec)
_pwm_values[i] = ppm_state._pulse_capt[i]; _pwm_values[i] = ppm_state._pulse_capt[i];
} }
_num_channels = ppm_state._channel_counter; _num_channels = ppm_state._channel_counter;
new_rc_input = true; rc_input_count++;
ppm_state._channel_counter = -1; ppm_state._channel_counter = -1;
} }
} }
@ -221,7 +223,7 @@ void RCInput::_process_sbus_pulse(uint16_t width_s0, uint16_t width_s1)
} }
_num_channels = num_values; _num_channels = num_values;
if (!sbus_failsafe) { if (!sbus_failsafe) {
new_rc_input = true; rc_input_count++;
} }
} }
goto reset; goto reset;
@ -291,7 +293,7 @@ void RCInput::_process_dsm_pulse(uint16_t width_s0, uint16_t width_s1)
_pwm_values[i] = values[i]; _pwm_values[i] = values[i];
} }
_num_channels = num_values; _num_channels = num_values;
new_rc_input = true; rc_input_count++;
} }
} }
memset(&dsm_state, 0, sizeof(dsm_state)); memset(&dsm_state, 0, sizeof(dsm_state));
@ -349,7 +351,7 @@ void RCInput::_update_periods(uint16_t *periods, uint8_t len)
_pwm_values[i] = periods[i]; _pwm_values[i] = periods[i];
} }
_num_channels = len; _num_channels = len;
new_rc_input = true; rc_input_count++;
} }
@ -408,7 +410,7 @@ bool RCInput::add_dsm_input(const uint8_t *bytes, size_t nbytes)
if (num_values > _num_channels) { if (num_values > _num_channels) {
_num_channels = num_values; _num_channels = num_values;
} }
new_rc_input = true; rc_input_count++;
#if 0 #if 0
printf("Decoded DSM %u channels %u %u %u %u %u %u %u %u\n", printf("Decoded DSM %u channels %u %u %u %u %u %u %u %u\n",
(unsigned)num_values, (unsigned)num_values,
@ -444,7 +446,7 @@ bool RCInput::add_sumd_input(const uint8_t *bytes, size_t nbytes)
} }
} }
_num_channels = channel_count; _num_channels = channel_count;
new_rc_input = true; rc_input_count++;
ret = true; ret = true;
} }
nbytes--; nbytes--;
@ -474,7 +476,7 @@ bool RCInput::add_st24_input(const uint8_t *bytes, size_t nbytes)
} }
} }
_num_channels = channel_count; _num_channels = channel_count;
new_rc_input = true; rc_input_count++;
ret = true; ret = true;
} }
nbytes--; nbytes--;
@ -503,7 +505,7 @@ bool RCInput::add_srxl_input(const uint8_t *bytes, size_t nbytes)
} }
_num_channels = channel_count; _num_channels = channel_count;
if (failsafe_state == false) { if (failsafe_state == false) {
new_rc_input = true; rc_input_count++;
} }
ret = true; ret = true;
} }
@ -564,7 +566,7 @@ void RCInput::add_sbus_input(const uint8_t *bytes, size_t nbytes)
_num_channels = num_values; _num_channels = num_values;
} }
if (!sbus_failsafe) { if (!sbus_failsafe) {
new_rc_input = true; rc_input_count++;
} }
#if 0 #if 0
printf("Decoded SBUS %u channels %u %u %u %u %u %u %u %u %s\n", printf("Decoded SBUS %u channels %u %u %u %u %u %u %u %u %s\n",

3
libraries/AP_HAL_Linux/RCInput.h
View File

@ -47,7 +47,8 @@ protected:
void _process_rc_pulse(uint16_t width_s0, uint16_t width_s1); void _process_rc_pulse(uint16_t width_s0, uint16_t width_s1);
void _update_periods(uint16_t *periods, uint8_t len); void _update_periods(uint16_t *periods, uint8_t len);
volatile bool new_rc_input; volatile uint32_t rc_input_count;
uint32_t last_rc_input_count;
uint16_t _pwm_values[LINUX_RC_INPUT_NUM_CHANNELS]; uint16_t _pwm_values[LINUX_RC_INPUT_NUM_CHANNELS];
uint8_t _num_channels; uint8_t _num_channels;

2
libraries/AP_HAL_Linux/RCInput_Multi.cpp
View File

@ -58,7 +58,7 @@ void RCInput_Multi::_timer_tick(void)
if (inputs[i]->new_input()) { if (inputs[i]->new_input()) {
inputs[i]->read(_pwm_values, inputs[i]->num_channels()); inputs[i]->read(_pwm_values, inputs[i]->num_channels());
_num_channels = inputs[i]->num_channels(); _num_channels = inputs[i]->num_channels();
new_rc_input = true; rc_input_count++;
} }
} }
} }