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HAL_ChibiOS: added debug timing option for RCOut

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This commit is contained in:
Andrew Tridgell 2018-04-01 16:00:52 +10:00
parent 9aa5a97f26
commit ef539d4145
1 changed files with 21 additions and 0 deletions
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21
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -31,6 +31,8 @@ extern const AP_HAL::HAL& hal;
extern AP_IOMCU iomcu;
#endif
#define RCOU_SERIAL_TIMING_DEBUG 0
struct RCOutput::pwm_group RCOutput::pwm_group_list[] = { HAL_PWM_GROUPS };
struct RCOutput::irq_state RCOutput::irq;
@ -1034,6 +1036,10 @@ void RCOutput::serial_bit_irq(void)
uint32_t now = AP_HAL::micros();
uint8_t bit = palReadLine(irq.line);
bool send_signal = false;
#if RCOU_SERIAL_TIMING_DEBUG
palWriteLine(HAL_GPIO_LINE_GPIO55, bit);
#endif
if (irq.nbits == 0 || bit == irq.last_bit) {
// start of byte, should be low
@ -1124,6 +1130,11 @@ uint16_t RCOutput::serial_read_bytes(uint8_t *buf, uint16_t len)
// GPIO lines not setup for PWM outputs in hwdef.dat
return false;
#endif
#if RCOU_SERIAL_TIMING_DEBUG
hal.gpio->pinMode(54, 1);
hal.gpio->pinMode(55, 1);
#endif
// assume GPIO mappings for PWM outputs start at 50
const uint8_t gpio_pin = 50 + chan;
@ -1138,8 +1149,15 @@ uint16_t RCOutput::serial_read_bytes(uint8_t *buf, uint16_t len)
irq.bit_time_us = serial_group->serial.bit_time_us;
irq.last_bit = 0;
irq.waiter = chThdGetSelfX();
#if RCOU_SERIAL_TIMING_DEBUG
palWriteLine(HAL_GPIO_LINE_GPIO54, 1);
#endif
if (!hal.gpio->attach_interrupt(gpio_pin, serial_bit_irq, HAL_GPIO_INTERRUPT_BOTH)) {
#if RCOU_SERIAL_TIMING_DEBUG
palWriteLine(HAL_GPIO_LINE_GPIO54, 0);
#endif
return false;
}
@ -1154,6 +1172,9 @@ uint16_t RCOutput::serial_read_bytes(uint8_t *buf, uint16_t len)
((GPIO *)hal.gpio)->_set_mode(gpio_pin, restore_mode);
chThdSetPriority(oldprio);
#if RCOU_SERIAL_TIMING_DEBUG
palWriteLine(HAL_GPIO_LINE_GPIO54, 0);
#endif
return i;
}