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HAL_ChibiOS: display RC protocol for iocmu

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This commit is contained in:
Andrew Tridgell 2018-11-05 16:44:34 +11:00
parent 5771e0a90e
commit 7168a0297a
1 changed files with 16 additions and 6 deletions
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22
libraries/AP_HAL_ChibiOS/RCInput.cpp
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@ -136,7 +136,11 @@ void RCInput::_timer_tick(void)
rcin_prot.process_pulse(width_s0, width_s1);
}
#endif
#ifndef HAL_NO_UARTDRIVER
const char *rc_protocol = nullptr;
#endif
#if HAL_USE_ICU == TRUE || HAL_USE_EICU == TRUE
if (rcin_prot.new_input()) {
rcin_mutex.take(HAL_SEMAPHORE_BLOCK_FOREVER);
@ -148,10 +152,7 @@ void RCInput::_timer_tick(void)
}
rcin_mutex.give();
#ifndef HAL_NO_UARTDRIVER
if (rcin_prot.protocol_name() != last_protocol) {
last_protocol = rcin_prot.protocol_name();
gcs().send_text(MAV_SEVERITY_DEBUG, "RCInput: decoding %s", last_protocol);
}
rc_protocol = rcin_prot.protocol_name();
#endif
}
#endif
@ -175,10 +176,19 @@ void RCInput::_timer_tick(void)
if (AP_BoardConfig::io_enabled() &&
iomcu.check_rcinput(last_iomcu_us, _num_channels, _rc_values, RC_INPUT_MAX_CHANNELS)) {
_rcin_timestamp_last_signal = last_iomcu_us;
#ifndef HAL_NO_UARTDRIVER
rc_protocol = iomcu.get_rc_protocol();
#endif
}
rcin_mutex.give();
#endif
#ifndef HAL_NO_UARTDRIVER
if (rc_protocol && rc_protocol != last_protocol) {
last_protocol = rc_protocol;
gcs().send_text(MAV_SEVERITY_DEBUG, "RCInput: decoding %s", last_protocol);
}
#endif
// note, we rely on the vehicle code checking new_input()
// and a timeout for the last valid input to handle failsafe