From 456414074576f926cd58699522ab1f2c94b1b6cd Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 27 Mar 2022 17:31:20 +1100
Subject: [PATCH] HAL_ChibiOS: display source of RC input

distinguish between IOMCU, RCInput with bytes and RCInput with pulses
---
 libraries/AP_HAL_ChibiOS/RCInput.cpp | 13 ++++++++++---
 libraries/AP_HAL_ChibiOS/RCInput.h   |  9 +++++++++
 2 files changed, 19 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/RCInput.cpp b/libraries/AP_HAL_ChibiOS/RCInput.cpp
index 9e6cfeb813..6ea3436d9c 100644
--- a/libraries/AP_HAL_ChibiOS/RCInput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCInput.cpp
@@ -150,6 +150,7 @@ void RCInput::_timer_tick(void)
     }
 #ifndef HAL_NO_UARTDRIVER
     const char *rc_protocol = nullptr;
+    RCSource source = last_source;
 #endif
 
 #ifndef HAL_BUILD_AP_PERIPH
@@ -191,12 +192,13 @@ void RCInput::_timer_tick(void)
         _rx_link_quality = rcprot.get_rx_link_quality();
 #ifndef HAL_NO_UARTDRIVER
         rc_protocol = rcprot.protocol_name();
+        source = rcprot.using_uart() ? RCSource::RCPROT_BYTES : RCSource::RCPROT_PULSES;
 #endif
     }
 #endif // HAL_BUILD_AP_PERIPH
 
 #if HAL_RCINPUT_WITH_AP_RADIO
-    if (radio && radio->last_recv_us() != last_radio_us) {
+    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;
@@ -205,6 +207,9 @@ void RCInput::_timer_tick(void)
         for (uint8_t i=0; i<_num_channels; i++) {
             _rc_values[i] = radio->read(i);
         }
+#ifndef HAL_NO_UARTDRIVER
+        source = RCSource::APRADIO;
+#endif
     }
 #endif
 
@@ -218,15 +223,17 @@ void RCInput::_timer_tick(void)
 #ifndef HAL_NO_UARTDRIVER
             rc_protocol = iomcu.get_rc_protocol();
             _rssi = iomcu.get_RSSI();
+            source = RCSource::IOMCU;
 #endif
         }
     }
 #endif
 
 #ifndef HAL_NO_UARTDRIVER
-    if (rc_protocol && rc_protocol != last_protocol) {
+    if (rc_protocol && (rc_protocol != last_protocol || source != last_source)) {
         last_protocol = rc_protocol;
-        GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "RCInput: decoding %s", last_protocol);
+        last_source = source;
+        GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "RCInput: decoding %s(%u)", last_protocol, unsigned(source));
     }
 #endif
 
diff --git a/libraries/AP_HAL_ChibiOS/RCInput.h b/libraries/AP_HAL_ChibiOS/RCInput.h
index 48eff5767b..08ba46d58c 100644
--- a/libraries/AP_HAL_ChibiOS/RCInput.h
+++ b/libraries/AP_HAL_ChibiOS/RCInput.h
@@ -72,6 +72,15 @@ private:
     uint32_t _rcin_last_iomcu_ms;
     bool _init;
     const char *last_protocol;
+
+    enum class RCSource {
+        NONE = 0,
+        IOMCU = 1,
+        RCPROT_PULSES = 2,
+        RCPROT_BYTES = 3,
+        APRADIO = 4,
+    } last_source;
+
     bool pulse_input_enabled;
 
 #if HAL_RCINPUT_WITH_AP_RADIO