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129 lines
2.8 KiB
129 lines
2.8 KiB
/* |
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* This file is free software: you can redistribute it and/or modify it |
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* under the terms of the GNU General Public License as published by the |
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* Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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* See the GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#include <AP_Math/AP_Math.h> |
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#include <GCS_MAVLink/GCS.h> |
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#include "AP_HAL_ESP32.h" |
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#include "RCInput.h" |
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using namespace ESP32; |
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void RCInput::init() |
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{ |
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if (_init) { |
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return; |
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} |
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#ifndef HAL_BUILD_AP_PERIPH |
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AP::RC().init(); |
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#endif |
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#ifdef HAL_ESP32_RCIN |
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sig_reader.init(); |
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#endif |
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_init = true; |
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} |
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bool RCInput::new_input() |
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{ |
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if (!_init) { |
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return false; |
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} |
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bool valid; |
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{ |
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WITH_SEMAPHORE(rcin_mutex); |
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valid = _rcin_timestamp_last_signal != _last_read; |
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_last_read = _rcin_timestamp_last_signal; |
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} |
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return valid; |
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} |
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uint8_t RCInput::num_channels() |
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{ |
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if (!_init) { |
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return 0; |
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} |
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return _num_channels; |
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} |
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uint16_t RCInput::read(uint8_t channel) |
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{ |
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if (!_init || (channel >= MIN(RC_INPUT_MAX_CHANNELS, _num_channels))) { |
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return 0; |
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} |
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uint16_t v; |
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{ |
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WITH_SEMAPHORE(rcin_mutex); |
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v = _rc_values[channel]; |
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} |
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return v; |
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} |
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uint8_t RCInput::read(uint16_t* periods, uint8_t len) |
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{ |
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if (!_init) { |
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return false; |
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} |
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if (len > RC_INPUT_MAX_CHANNELS) { |
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len = RC_INPUT_MAX_CHANNELS; |
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} |
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{ |
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WITH_SEMAPHORE(rcin_mutex); |
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memcpy(periods, _rc_values, len*sizeof(periods[0])); |
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} |
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return len; |
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} |
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void RCInput::_timer_tick(void) |
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{ |
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if (!_init) { |
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return; |
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} |
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AP_RCProtocol &rcprot = AP::RC(); |
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#ifdef HAL_ESP32_RCIN |
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uint32_t width_s0, width_s1; |
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while (sig_reader.read(width_s0, width_s1)) { |
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rcprot.process_pulse(width_s0, width_s1); |
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} |
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#ifndef HAL_NO_UARTDRIVER |
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const char *rc_protocol = nullptr; |
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#endif |
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if (rcprot.new_input()) { |
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WITH_SEMAPHORE(rcin_mutex); |
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_rcin_timestamp_last_signal = AP_HAL::micros(); |
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_num_channels = rcprot.num_channels(); |
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_num_channels = MIN(_num_channels, RC_INPUT_MAX_CHANNELS); |
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rcprot.read(_rc_values, _num_channels); |
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_rssi = rcprot.get_RSSI(); |
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#ifndef HAL_NO_UARTDRIVER |
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rc_protocol = rcprot.protocol_name(); |
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#endif |
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} |
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#ifndef HAL_NO_UARTDRIVER |
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if (rc_protocol && rc_protocol != last_protocol) { |
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last_protocol = rc_protocol; |
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gcs().send_text(MAV_SEVERITY_DEBUG, "RCInput: decoding %s", last_protocol); |
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} |
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#endif |
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#endif |
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}
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