AP_HAL_ESP32: enable uart rc

Signed-off-by: Rhys Mainwaring <[email protected]>
ArduPilot · Nov 19, 2024 · f9e319d · f9e319d
1 parent 52efe95
commit f9e319d
Show file tree

Hide file tree

Showing 2 changed files with 89 additions and 17 deletions.
diff --git a/libraries/AP_HAL_ESP32/RCInput.cpp b/libraries/AP_HAL_ESP32/RCInput.cpp
@@ -12,14 +12,24 @@
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
-#include <AP_Math/AP_Math.h>
+
 #include <GCS_MAVLink/GCS.h>
 
 #include "AP_HAL_ESP32.h"
 #include "RCInput.h"
 
+#include <AP_RCProtocol/AP_RCProtocol_config.h>
+
+#include <AP_Math/AP_Math.h>
+
+#ifndef HAL_NO_UARTDRIVER
+#include <GCS_MAVLink/GCS.h>
+#endif
+
 using namespace ESP32;
 
+extern const AP_HAL::HAL& hal;
+
 void RCInput::init()
 {
     if (_init) {
@@ -31,10 +41,26 @@ void RCInput::init()
 
 #ifdef HAL_ESP32_RCIN
     sig_reader.init();
+    pulse_input_enabled = true;
 #endif
+
     _init = true;
 }
 
+/*
+  enable or disable pulse input for RC input. This is used to reduce
+  load when we are decoding R/C via a UART
+*/
+void RCInput::pulse_input_enable(bool enable)
+{
+    pulse_input_enabled = enable;
+#if HAL_ESP32_RCIN
+    if (!enable) {
+        sig_reader.disable();
+    }
+#endif
+}
+
 bool RCInput::new_input()
 {
     if (!_init) {
@@ -89,42 +115,66 @@ uint8_t RCInput::read(uint16_t* periods, uint8_t len)
 
 void RCInput::_timer_tick(void)
 {
-#if AP_RCPROTOCOL_ENABLED
     if (!_init) {
         return;
     }
+#ifndef HAL_NO_UARTDRIVER
+    const char *rc_protocol = nullptr;
+    RCSource source = last_source;
+#endif
+
+#if AP_RCPROTOCOL_ENABLED
     AP_RCProtocol &rcprot = AP::RC();
 
 #ifdef HAL_ESP32_RCIN
-    uint32_t width_s0, width_s1;
-    while (sig_reader.read(width_s0, width_s1)) {
-        rcprot.process_pulse(width_s0, width_s1);
-
+    if (pulse_input_enabled) {
+        uint32_t width_s0, width_s1;
+        while (sig_reader.read(width_s0, width_s1)) {
+            rcprot.process_pulse(width_s0, width_s1);
+        }
     }
-
-#ifndef HAL_NO_UARTDRIVER
-    const char *rc_protocol = nullptr;
 #endif
 
+#endif  // AP_RCPROTOCOL_ENABLED
+
+#if AP_RCPROTOCOL_ENABLED
     if (rcprot.new_input()) {
         WITH_SEMAPHORE(rcin_mutex);
         _rcin_timestamp_last_signal = AP_HAL::micros();
         _num_channels = rcprot.num_channels();
         _num_channels = MIN(_num_channels, RC_INPUT_MAX_CHANNELS);
         rcprot.read(_rc_values, _num_channels);
         _rssi = rcprot.get_RSSI();
+        _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;
+        // printf("RCInput: decoding %s", last_protocol);
 #endif
     }
+#endif // AP_RCPROTOCOL_ENABLED
 
 #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
 
+    // note, we rely on the vehicle code checking new_input()
+    // and a timeout for the last valid input to handle failsafe
+}
+
+/*
+  start a bind operation, if supported
+ */
+bool RCInput::rc_bind(int dsmMode)
+{
+#if AP_RCPROTOCOL_ENABLED
+    // ask AP_RCProtocol to start a bind
+    AP::RC().start_bind();
 #endif
-#endif // AP_RCPROTOCOL_ENABLED
+
+    return true;
 }
diff --git a/libraries/AP_HAL_ESP32/RCInput.h b/libraries/AP_HAL_ESP32/RCInput.h
@@ -17,9 +17,10 @@
 
 #include "AP_HAL_ESP32.h"
 #include "Semaphores.h"
-#include "RmtSigReader.h"
+
 #include <AP_RCProtocol/AP_RCProtocol.h>
 
+#include "RmtSigReader.h"
 
 #ifndef RC_INPUT_MAX_CHANNELS
 #define RC_INPUT_MAX_CHANNELS 18
@@ -33,21 +34,42 @@ class ESP32::RCInput : public AP_HAL::RCInput
     uint8_t num_channels() override;
     uint16_t read(uint8_t ch) override;
     uint8_t read(uint16_t* periods, uint8_t len) override;
-    void _timer_tick(void);
 
-    const char *protocol() const override
-    {
-        return last_protocol;
+    /* enable or disable pulse input for RC input. This is used to
+       reduce load when we are decoding R/C via a UART */
+    void pulse_input_enable(bool enable) override;
+
+    int16_t get_rssi(void) override {
+        return _rssi;
+    }
+    int16_t get_rx_link_quality(void) override {
+        return _rx_link_quality;
     }
+    const char *protocol() const override { return last_protocol; }
+
+    void _timer_tick(void);
+    bool rc_bind(int dsmMode) override;
+
 private:
     uint16_t _rc_values[RC_INPUT_MAX_CHANNELS] = {0};
+
     uint64_t _last_read;
     uint8_t _num_channels;
     Semaphore rcin_mutex;
     int16_t _rssi = -1;
+    int16_t _rx_link_quality = -1;
     uint32_t _rcin_timestamp_last_signal;
     bool _init;
     const char *last_protocol;
 
+    enum class RCSource {
+        NONE = 0,
+        IOMCU = 1,
+        RCPROT_PULSES = 2,
+        RCPROT_BYTES = 3,
+    } last_source;
+
+    bool pulse_input_enabled;
+
     ESP32::RmtSigReader sig_reader;
 };