AP_HAL_ChibiOS: move handling of AP_Radio RC input down into AP_RCProtocol

libraries/AP_HAL_ChibiOS/RCInput.cpp

@@ -84,15 +84,6 @@ bool RCInput::new_input()
         _last_read = _rcin_timestamp_last_signal;
     }
 
-#if HAL_RCINPUT_WITH_AP_RADIO
-    if (!_radio_init) {
-        _radio_init = true;
-        radio = AP_Radio::get_singleton();
-        if (radio) {
-            radio->init();
-        }
-    }
-#endif
     return valid;
 }
 
@@ -114,12 +105,6 @@ uint16_t RCInput::read(uint8_t channel)
         WITH_SEMAPHORE(rcin_mutex);
         v = _rc_values[channel];
     }
-#if HAL_RCINPUT_WITH_AP_RADIO
-    if (radio && channel == 0) {
-        // hook to allow for update of radio on main thread, for mavlink sends
-        radio->update();
-    }
-#endif
     return v;
 }
 
@@ -136,12 +121,6 @@ uint8_t RCInput::read(uint16_t* periods, uint8_t len)
         WITH_SEMAPHORE(rcin_mutex);
         memcpy(periods, _rc_values, len*sizeof(periods[0]));
     }
-#if HAL_RCINPUT_WITH_AP_RADIO
-    if (radio) {
-        // hook to allow for update of radio on main thread, for mavlink sends
-        radio->update();
-    }
-#endif
     return len;
 }
 
@@ -186,7 +165,7 @@ void RCInput::_timer_tick(void)
     if (!have_iocmu_rc) {
         _rcin_last_iomcu_ms = 0;
     }
-#elif AP_RCPROTOCOL_ENABLED || HAL_RCINPUT_WITH_AP_RADIO
+#elif AP_RCPROTOCOL_ENABLED
     const bool have_iocmu_rc = false;
 #endif
 
@@ -206,22 +185,6 @@ void RCInput::_timer_tick(void)
     }
 #endif // AP_RCPROTOCOL_ENABLED
 
-#if HAL_RCINPUT_WITH_AP_RADIO
-    if (radio && radio->last_recv_us() != last_radio_us && !have_iocmu_rc) {
-        last_radio_us = radio->last_recv_us();
-        WITH_SEMAPHORE(rcin_mutex);
-        _rcin_timestamp_last_signal = last_radio_us;
-        _num_channels = radio->num_channels();
-        _num_channels = MIN(_num_channels, RC_INPUT_MAX_CHANNELS);
-        for (uint8_t i=0; i<_num_channels; i++) {
-            _rc_values[i] = radio->read(i);
-        }
-#ifndef HAL_NO_UARTDRIVER
-        source = RCSource::APRADIO;
-#endif
-    }
-#endif
-
 #if HAL_WITH_IO_MCU
     {
         WITH_SEMAPHORE(rcin_mutex);
@@ -269,11 +232,6 @@ bool RCInput::rc_bind(int dsmMode)
     AP::RC().start_bind();
 #endif
 
-#if HAL_RCINPUT_WITH_AP_RADIO
-    if (radio) {
-        radio->start_recv_bind();
-    }
-#endif
     return true;
 }
 #endif //#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS

libraries/AP_HAL_ChibiOS/RCInput.h

@@ -19,10 +19,6 @@
 #include "AP_HAL_ChibiOS.h"
 #include "Semaphores.h"
 
-#if HAL_RCINPUT_WITH_AP_RADIO
-#include <AP_Radio/AP_Radio.h>
-#endif
-
 #include <AP_RCProtocol/AP_RCProtocol.h>
 
 #if HAL_USE_ICU == TRUE
@@ -80,17 +76,10 @@ private:
         IOMCU = 1,
         RCPROT_PULSES = 2,
         RCPROT_BYTES = 3,
-        APRADIO = 4,
     } last_source;
 
     bool pulse_input_enabled;
 
-#if HAL_RCINPUT_WITH_AP_RADIO
-    bool _radio_init;
-    AP_Radio *radio;
-    uint32_t last_radio_us;
-#endif
-
 #if HAL_USE_ICU == TRUE
     ChibiOS::SoftSigReader sig_reader;
 #endif

libraries/AP_HAL_ChibiOS/hwdef/skyviper-f412-rev1/hwdef.dat

@@ -109,11 +109,15 @@ IMU Invensense SPI:icm20789 ROTATION_NONE
 # radio IRQ is on GPIO(100)
 define HAL_GPIO_RADIO_IRQ 100
 
-define HAL_RCINPUT_WITH_AP_RADIO 1
+define AP_RADIO_ENABLED 1
 define AP_RADIO_BACKEND_DEFAULT_ENABLED 0
 define AP_RADIO_CC2500_ENABLED 1
 define AP_RADIO_CYRF6936_ENABLED 1
 
+define AP_RCPROTOCOL_ENABLED 1
+define AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED 0
+define AP_RCPROTOCOL_RADIO_ENABLED 1
+
 STORAGE_FLASH_PAGE	 1
 define HAL_STORAGE_SIZE 15360
 

libraries/AP_HAL_ChibiOS/hwdef/skyviper-journey/hwdef.dat

@@ -99,12 +99,16 @@ IMU Invensense I2C:1:0x68 ROTATION_NONE
 # radio IRQ is on GPIO(100)
 define HAL_GPIO_RADIO_IRQ 100
 
-define HAL_RCINPUT_WITH_AP_RADIO 1
+define AP_RADIO_ENABLED 1
 define AP_RADIO_BACKEND_DEFAULT_ENABLED 0
 define AP_RADIO_CC2500_ENABLED 1
 define AP_RADIO_CYRF6936_ENABLED 1
 define AP_RADIO_BK2425_ENABLED 1
 
+define AP_RCPROTOCOL_ENABLED 1
+define AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED 0
+define AP_RCPROTOCOL_RADIO_ENABLED 1
+
 STORAGE_FLASH_PAGE	 1
 define HAL_STORAGE_SIZE 15360
 

libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/hwdef.dat

@@ -31,7 +31,7 @@ define CHIBIOS_SHORT_BOARD_NAME "skyviper-v245"
 SERIAL_ORDER OTG1 USART2 EMPTY UART4
 
 # enable AP_Radio support
-define HAL_RCINPUT_WITH_AP_RADIO 1
+define AP_RADIO_ENABLED 1
 define AP_RADIO_BACKEND_DEFAULT_ENABLED 0
 define AP_RADIO_CC2500_ENABLED 1
 define AP_RADIO_CYRF6936_ENABLED 1
@@ -170,7 +170,9 @@ define AP_CAMERA_BACKEND_DEFAULT_ENABLED 0
 define AP_CAMERA_MAVLINK_ENABLED 1
 
 # SkyViper uses AP_Radio, which does its own RC protocol decoding:
-define AP_RCPROTOCOL_ENABLED 0
+define AP_RCPROTOCOL_ENABLED 1
+define AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED 0
+define AP_RCPROTOCOL_RADIO_ENABLED 1
 
 // few prelcnad backends are applicable
 define AC_PRECLAND_BACKEND_DEFAULT_ENABLED 0