AP_IOMCU: use ioevents for oneshot in iofirmware

libraries/AP_IOMCU/AP_IOMCU.cpp

@@ -17,6 +17,23 @@
 
 extern const AP_HAL::HAL &hal;
 
+// pending IO events to send, used as an event mask
+enum ioevents {
+    IOEVENT_INIT=1,
+    IOEVENT_SEND_PWM_OUT,
+    IOEVENT_SET_DISARMED_PWM,
+    IOEVENT_SET_FAILSAFE_PWM,
+    IOEVENT_FORCE_SAFETY_OFF,
+    IOEVENT_FORCE_SAFETY_ON,
+    IOEVENT_SET_ONESHOT_ON,
+    IOEVENT_SET_RATES,
+    IOEVENT_GET_RCIN,
+    IOEVENT_ENABLE_SBUS,
+    IOEVENT_SET_HEATER_TARGET,
+    IOEVENT_SET_DEFAULT_RATE,
+    IOEVENT_SET_SAFETY_MASK,
+};
+
 AP_IOMCU::AP_IOMCU(AP_HAL::UARTDriver &_uart) :
     uart(_uart)
 {}

libraries/AP_IOMCU/iofirmware/iofirmware.cpp

@@ -8,6 +8,8 @@
 #include "hal.h"
 extern const AP_HAL::HAL &hal;
 
+//#pragma GCC optimize("Og")
+
 static AP_IOMCU_FW iomcu;
 
 void setup();
@@ -15,6 +17,11 @@ void loop();
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
+// pending events on the main thread
+enum ioevents {
+    IOEVENT_PWM=1,
+};
+
 static uint32_t num_code_read, num_bad_crc, num_write_pkt, num_unknown_pkt; 
 static uint32_t num_idle_rx, num_dma_complete_rx, num_total_rx, num_rx_error;
 
@@ -124,6 +131,8 @@ void loop(void)
 
 void AP_IOMCU_FW::init()
 {
+    thread_ctx = chThdGetSelfX();
+
     if (palReadLine(HAL_GPIO_PIN_IO_HW_DETECT1) == 1 && palReadLine(HAL_GPIO_PIN_IO_HW_DETECT2) == 0) {
         has_heater = true;
     }
@@ -132,25 +141,39 @@ void AP_IOMCU_FW::init()
 
 void AP_IOMCU_FW::update()
 {
+    chEvtWaitAnyTimeout(~0, MS2ST(1));
+
     if (do_reboot && (AP_HAL::millis() > reboot_time)) {
         hal.scheduler->reboot(true);
         while(true){}
     }
+
+    // always do pwm update
     pwm_out_update();
-    heater_update();
+
-    rcin_update();
+    // run remaining functions at 1kHz
-    safety_update();
+    uint32_t now = AP_HAL::millis();
+    if (now != last_loop_ms) {
+        last_loop_ms = now;
+        heater_update();
+        rcin_update();
+        safety_update();
+        rcout_mode_update();
+        hal.rcout->timer_tick();
+    }
 }
 
 void AP_IOMCU_FW::pwm_out_update()
 {
     //TODO: PWM mixing
     memcpy(reg_servo.pwm, reg_direct_pwm.pwm, sizeof(reg_direct_pwm));
+    hal.rcout->cork();
     for(uint8_t i = 0; i < SERVO_COUNT; i++) {
         if (reg_servo.pwm[i] != 0) {
-            hal.rcout->write(i, reg_servo.pwm[i]);
+            hal.rcout->write(i, reg_status.flag_safety_off?reg_servo.pwm[i]:0);
         }
     }
+    hal.rcout->push();
 }
 
 void AP_IOMCU_FW::heater_update()
@@ -379,7 +402,7 @@ bool AP_IOMCU_FW::handle_code_write()
                 fmu_data_received_time = AP_HAL::millis();
                 reg_status.flag_fmu_ok = true;
                 reg_status.flag_raw_pwm = true;
-                //TODO: Oneshot support
+                chEvtSignalI(thread_ctx, EVENT_MASK(IOEVENT_PWM));
                 break;
             }
         
@@ -452,4 +475,16 @@ void AP_IOMCU_FW::safety_update(void)
     palWriteLine(HAL_GPIO_PIN_SAFETY_LED, (led_pattern & (1U << led_counter))?0:1);
 }
 
+/*
+  update hal.rcout mode if needed
+ */
+void AP_IOMCU_FW::rcout_mode_update(void)
+{
+    bool use_oneshot = (reg_setup.features & P_SETUP_FEATURES_ONESHOT) != 0;
+    if (use_oneshot && !oneshot_enabled) {
+        oneshot_enabled = true;
+        hal.rcout->set_output_mode(reg_setup.pwm_rates, AP_HAL::RCOutput::MODE_PWM_ONESHOT);
+    }
+}
+
 AP_HAL_MAIN();

libraries/AP_IOMCU/iofirmware/iofirmware.h

@@ -27,6 +27,7 @@ private:
     bool handle_code_read();
     void schedule_reboot(uint32_t time_ms);
     void safety_update();
+    void rcout_mode_update();
 
     struct PACKED {
         /* default to RSSI ADC functionality */
@@ -91,5 +92,8 @@ private:
     uint32_t safety_update_ms;
     uint32_t safety_button_counter;
     uint8_t led_counter;
+    uint32_t last_loop_ms;
+    bool oneshot_enabled;
+    thread_t *thread_ctx;
 };
 

libraries/AP_IOMCU/iofirmware/ioprotocol.h

@@ -51,23 +51,6 @@ enum iopage {
     PAGE_DISARMED_PWM = 108,
 };
 
-// pending IO events to send, used as an event mask
-enum ioevents {
-    IOEVENT_INIT=1,
-    IOEVENT_SEND_PWM_OUT,
-    IOEVENT_SET_DISARMED_PWM,
-    IOEVENT_SET_FAILSAFE_PWM,
-    IOEVENT_FORCE_SAFETY_OFF,
-    IOEVENT_FORCE_SAFETY_ON,
-    IOEVENT_SET_ONESHOT_ON,
-    IOEVENT_SET_RATES,
-    IOEVENT_GET_RCIN,
-    IOEVENT_ENABLE_SBUS,
-    IOEVENT_SET_HEATER_TARGET,
-    IOEVENT_SET_DEFAULT_RATE,
-    IOEVENT_SET_SAFETY_MASK,
-};
-
 // setup page registers
 #define PAGE_REG_SETUP_FEATURES	0
 #define P_SETUP_FEATURES_SBUS1_OUT	1