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AP_HAL_ChibiOS: add and use AP_RCPROTOCOL_ENABLED

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This commit is contained in:
Peter Barker
2023-05-16 09:16:37 +10:00
committed by Andrew Tridgell
parent b7f3d25bed
commit 2d7123fcff
3 changed files with 32 additions and 7 deletions
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libraries/AP_HAL_ChibiOS/RCInput.cpp
+10 -5
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@@ -21,6 +21,8 @@
#include "hwdef/common/ppm.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#include <AP_RCProtocol/AP_RCProtocol_config.h>
#if HAL_WITH_IO_MCU
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_IOMCU/AP_IOMCU.h>
@@ -38,7 +40,7 @@ using namespace ChibiOS;
extern const AP_HAL::HAL& hal;
void RCInput::init()
{
#ifndef HAL_BUILD_AP_PERIPH
#if AP_RCPROTOCOL_ENABLED
AP::RC().init();
#endif
@@ -153,7 +155,7 @@ void RCInput::_timer_tick(void)
RCSource source = last_source;
#endif
#ifndef HAL_BUILD_AP_PERIPH
#if AP_RCPROTOCOL_ENABLED
AP_RCProtocol &rcprot = AP::RC();
#if HAL_USE_ICU == TRUE
@@ -176,16 +178,19 @@ void RCInput::_timer_tick(void)
}
#endif
#endif // AP_RCPROTOCOL_ENABLED
#if HAL_WITH_IO_MCU
uint32_t now = AP_HAL::millis();
const bool have_iocmu_rc = (_rcin_last_iomcu_ms != 0 && now - _rcin_last_iomcu_ms < 400);
if (!have_iocmu_rc) {
_rcin_last_iomcu_ms = 0;
}
#else
#elif AP_RCPROTOCOL_ENABLED || HAL_RCINPUT_WITH_AP_RADIO
const bool have_iocmu_rc = false;
#endif
#if AP_RCPROTOCOL_ENABLED
if (rcprot.new_input() && !have_iocmu_rc) {
WITH_SEMAPHORE(rcin_mutex);
_rcin_timestamp_last_signal = AP_HAL::micros();
@@ -199,7 +204,7 @@ void RCInput::_timer_tick(void)
source = rcprot.using_uart() ? RCSource::RCPROT_BYTES : RCSource::RCPROT_PULSES;
#endif
}
#endif // HAL_BUILD_AP_PERIPH
#endif // AP_RCPROTOCOL_ENABLED
#if HAL_RCINPUT_WITH_AP_RADIO
if (radio && radio->last_recv_us() != last_radio_us && !have_iocmu_rc) {
@@ -259,7 +264,7 @@ bool RCInput::rc_bind(int dsmMode)
}
#endif
#ifndef HAL_BUILD_AP_PERIPH
#if AP_RCPROTOCOL_ENABLED
// ask AP_RCProtocol to start a bind
AP::RC().start_bind();
#endif