HAL_ChibiOS: switch to AP::RC() for AP_RCProtocol

libraries/AP_HAL_ChibiOS/RCInput.cpp

@@ -36,15 +36,15 @@ using namespace ChibiOS;
 extern const AP_HAL::HAL& hal;
 void RCInput::init()
 {
+    AP::RC().init();
+
 #if HAL_USE_ICU == TRUE
     //attach timer channel on which the signal will be received
     sig_reader.attach_capture_timer(&RCIN_ICU_TIMER, RCIN_ICU_CHANNEL, STM32_RCIN_DMA_STREAM, STM32_RCIN_DMA_CHANNEL);
-    rcin_prot.init();
 #endif
 
 #if HAL_USE_EICU == TRUE
     sig_reader.init(&RCININT_EICU_TIMER, RCININT_EICU_CHANNEL);
-    rcin_prot.init();
 #endif
 
     _init = true;
@@ -125,7 +125,7 @@ void RCInput::_timer_tick(void)
     const uint32_t *p;
     uint32_t n;
     while ((p = (const uint32_t *)sig_reader.sigbuf.readptr(n)) != nullptr) {
-        rcin_prot.process_pulse_list(p, n*2, sig_reader.need_swap);
+        AP::RC().process_pulse_list(p, n*2, sig_reader.need_swap);
         sig_reader.sigbuf.advance(n);
     }
 #endif
@@ -133,7 +133,7 @@ void RCInput::_timer_tick(void)
 #if HAL_USE_EICU == TRUE
     uint32_t width_s0, width_s1;
     while(sig_reader.read(width_s0, width_s1)) {
-        rcin_prot.process_pulse(width_s0, width_s1);
+        AP::RC().process_pulse(width_s0, width_s1);
     }
 #endif
 
@@ -141,21 +141,19 @@ void RCInput::_timer_tick(void)
     const char *rc_protocol = nullptr;
 #endif
 
-#if HAL_USE_ICU == TRUE || HAL_USE_EICU == TRUE
-    if (rcin_prot.new_input()) {
+    if (AP::RC().new_input()) {
         rcin_mutex.take(HAL_SEMAPHORE_BLOCK_FOREVER);
         _rcin_timestamp_last_signal = AP_HAL::micros();
-        _num_channels = rcin_prot.num_channels();
+        _num_channels = AP::RC().num_channels();
         _num_channels = MIN(_num_channels, RC_INPUT_MAX_CHANNELS);
         for (uint8_t i=0; i<_num_channels; i++) {
-            _rc_values[i] = rcin_prot.read(i);
+            _rc_values[i] = AP::RC().read(i);
         }
         rcin_mutex.give();
 #ifndef HAL_NO_UARTDRIVER
-        rc_protocol = rcin_prot.protocol_name();
+        rc_protocol = AP::RC().protocol_name();
 #endif
     }
-#endif
 
 #if HAL_RCINPUT_WITH_AP_RADIO
     if (radio && radio->last_recv_us() != last_radio_us) {
@@ -207,10 +205,8 @@ bool RCInput::rc_bind(int dsmMode)
     rcin_mutex.give();
 #endif
 
-#if HAL_USE_ICU == TRUE
     // ask AP_RCProtocol to start a bind
-    rcin_prot.start_bind();
-#endif
+    AP::RC().start_bind();
 
 #if HAL_RCINPUT_WITH_AP_RADIO
     if (radio) {

libraries/AP_HAL_ChibiOS/RCInput.h

@@ -23,17 +23,16 @@
 #include <AP_Radio/AP_Radio.h>
 #endif
 
+#include <AP_RCProtocol/AP_RCProtocol.h>
+
 #if HAL_USE_ICU == TRUE
 #include "SoftSigReader.h"
-#include <AP_RCProtocol/AP_RCProtocol.h>
 #endif
 
 #if HAL_USE_EICU == TRUE
 #include "SoftSigReaderInt.h"
-#include <AP_RCProtocol/AP_RCProtocol.h>
 #endif
 
-
 #ifndef RC_INPUT_MAX_CHANNELS
 #define RC_INPUT_MAX_CHANNELS 18
 #endif
@@ -74,12 +73,10 @@ private:
 
 #if HAL_USE_ICU == TRUE
     ChibiOS::SoftSigReader sig_reader;
-    AP_RCProtocol rcin_prot;
 #endif
 
 #if HAL_USE_EICU == TRUE
     ChibiOS::SoftSigReaderInt sig_reader;
-    AP_RCProtocol rcin_prot;
 #endif
 
 #if HAL_WITH_IO_MCU