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drivers/rc_input: cleanup and simplify data processing per type

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- don't store data in class
This commit is contained in:
Daniel Agar
2022-02-09 16:34:48 -05:00
parent c4f9f2980d
commit edb9fce9b3
2 changed files with 254 additions and 269 deletions
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src/drivers/rc_input/RCInput.cpp
+219 -239
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File diff suppressed because it is too large Load Diff
src/drivers/rc_input/RCInput.hpp
+28 -23
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@@ -91,23 +91,31 @@ public:
private: private:
enum RC_SCAN { enum RC_SCAN {
RC_SCAN_PPM = 0, #if defined(HRT_PPM_CHANNEL)
RC_SCAN_PPM,
#endif // HRT_PPM_CHANNEL
RC_SCAN_SBUS, RC_SCAN_SBUS,
RC_SCAN_DSM, RC_SCAN_DSM,
RC_SCAN_SUMD, RC_SCAN_SUMD,
RC_SCAN_ST24, RC_SCAN_ST24,
RC_SCAN_CRSF, RC_SCAN_CRSF,
RC_SCAN_GHST RC_SCAN_GHST,
RC_SCAN_MAX
} _rc_scan_state{RC_SCAN_SBUS}; } _rc_scan_state{RC_SCAN_SBUS};
static constexpr char const *RC_SCAN_STRING[7] { static constexpr char const *RC_SCAN_STRING[] {
#if defined(HRT_PPM_CHANNEL)
"PPM", "PPM",
#endif // HRT_PPM_CHANNEL
"SBUS", "SBUS",
"DSM", "DSM",
"SUMD", "SUMD",
"ST24", "ST24",
"CRSF", "CRSF",
"GHST" "GHST",
"NONE"
}; };
void Run() override; void Run() override;
@@ -116,16 +124,14 @@ private:
bool bind_spektrum(int arg = DSMX8_BIND_PULSES) const; bool bind_spektrum(int arg = DSMX8_BIND_PULSES) const;
#endif // SPEKTRUM_POWER #endif // SPEKTRUM_POWER
void fill_rc_in(uint16_t raw_rc_count_local, void FillRssi(input_rc_s &input_rc);
uint16_t raw_rc_values_local[input_rc_s::RC_INPUT_MAX_CHANNELS], void PublishInputRc(input_rc_s &input_rc);
hrt_abstime now, bool frame_drop, bool failsafe,
unsigned frame_drops, int rssi);
void set_rc_scan_state(RC_SCAN _rc_scan_state);
void rc_io_invert(bool invert); void rc_io_invert(bool invert);
void set_next_rc_scan_state();
hrt_abstime _rc_scan_begin{0}; hrt_abstime _rc_scan_begin{0};
hrt_abstime _last_publish_time{0};
bool _initialized{false}; bool _initialized{false};
bool _rc_scan_locked{false}; bool _rc_scan_locked{false};
@@ -135,19 +141,19 @@ private:
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _adc_report_sub{ORB_ID(adc_report)}; #if defined(ADC_RC_RSSI_CHANNEL)
uORB::Subscription _adc_report_sub {ORB_ID(adc_report)};
float _analog_rc_rssi_volt{-1.0f};
bool _analog_rc_rssi_stable{false};
#endif // ADC_RC_RSSI_CHANNEL
uORB::Subscription _vehicle_cmd_sub{ORB_ID(vehicle_command)}; uORB::Subscription _vehicle_cmd_sub{ORB_ID(vehicle_command)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
input_rc_s _rc_in{}; bool _rc_serial_port_output{true};
float _analog_rc_rssi_volt{-1.0f};
bool _analog_rc_rssi_stable{false};
bool _armed{false}; bool _armed{false};
uORB::PublicationMulti<input_rc_s> _input_rc_pub{ORB_ID(input_rc)};
uORB::PublicationMulti<input_rc_s> _to_input_rc{ORB_ID(input_rc)};
int _rcs_fd{-1}; int _rcs_fd{-1};
char _device[20] {}; ///< device / serial port path char _device[20] {}; ///< device / serial port path
@@ -155,14 +161,13 @@ private:
static constexpr size_t RC_MAX_BUFFER_SIZE{SBUS_BUFFER_SIZE}; static constexpr size_t RC_MAX_BUFFER_SIZE{SBUS_BUFFER_SIZE};
uint8_t _rcs_buf[RC_MAX_BUFFER_SIZE] {}; uint8_t _rcs_buf[RC_MAX_BUFFER_SIZE] {};
uint16_t _raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS] {};
uint16_t _raw_rc_count{};
CRSFTelemetry *_crsf_telemetry{nullptr}; CRSFTelemetry *_crsf_telemetry{nullptr};
GHSTTelemetry *_ghst_telemetry{nullptr}; GHSTTelemetry *_ghst_telemetry{nullptr};
perf_counter_t _cycle_perf; perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")};
perf_counter_t _publish_interval_perf; perf_counter_t _cycle_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")};
perf_counter_t _publish_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": publish interval")};
uint32_t _bytes_rx{0}; uint32_t _bytes_rx{0};
DEFINE_PARAMETERS( DEFINE_PARAMETERS(