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drivers/rc_input: support RC_RSSI_PWM_CHAN

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This commit is contained in:
Daniel Agar
2021-01-26 18:19:52 -05:00
parent ab650373d6
commit 53a14e847d
4 changed files with 91 additions and 61 deletions
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src/drivers/rc_input/RCInput.cpp
+20 -2
View File
@@ -41,6 +41,7 @@ using namespace time_literals;
constexpr char const *RCInput::RC_SCAN_STRING[];
RCInput::RCInput(const char *device) :
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(device)),
_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")),
_publish_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": publish interval"))
@@ -197,9 +198,17 @@ RCInput::fill_rc_in(uint16_t raw_rc_count_local,
/* fake rssi if no value was provided */
if (rssi == -1) {
if ((_param_rc_rssi_pwm_chan.get() > 0) && (_param_rc_rssi_pwm_chan.get() < _rc_in.channel_count)) {
const int32_t rssi_pwm_chan = _param_rc_rssi_pwm_chan.get();
const int32_t rssi_pwm_min = _param_rc_rssi_pwm_min.get();
const int32_t rssi_pwm_max = _param_rc_rssi_pwm_max.get();
/* set RSSI if analog RSSI input is present */
if (_analog_rc_rssi_stable) {
// get RSSI from input channel
int rc_rssi = ((_rc_in.values[rssi_pwm_chan - 1] - rssi_pwm_min) * 100) / (rssi_pwm_max - rssi_pwm_min);
_rc_in.rssi = math::constrain(rc_rssi, 0, 100);
} else if (_analog_rc_rssi_stable) {
// set RSSI if analog RSSI input is present
float rssi_analog = ((_analog_rc_rssi_volt - 0.2f) / 3.0f) * 100.0f;
if (rssi_analog > 100.0f) {
@@ -281,6 +290,15 @@ void RCInput::Run()
perf_begin(_cycle_perf);
// Check if parameters have changed
if (_parameter_update_sub.updated()) {
// clear update
parameter_update_s param_update;
_parameter_update_sub.copy(&param_update);
updateParams();
}
const hrt_abstime cycle_timestamp = hrt_absolute_time();
src/drivers/rc_input/RCInput.hpp
+13 -1
View File
@@ -49,11 +49,14 @@
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/adc_report.h>
#include <uORB/topics/input_rc.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_command.h>
#include "crsf_telemetry.h"
@@ -62,7 +65,7 @@
# include <systemlib/ppm_decode.h>
#endif
class RCInput : public ModuleBase<RCInput>, public px4::ScheduledWorkItem
class RCInput : public ModuleBase<RCInput>, public ModuleParams, public px4::ScheduledWorkItem
{
public:
@@ -134,6 +137,8 @@ private:
static constexpr unsigned _current_update_interval{4000}; // 250 Hz
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _vehicle_cmd_sub{ORB_ID(vehicle_command)};
uORB::Subscription _adc_sub{ORB_ID(adc_report)};
@@ -142,6 +147,7 @@ private:
float _analog_rc_rssi_volt{-1.0f};
bool _analog_rc_rssi_stable{false};
uORB::PublicationMulti<input_rc_s> _to_input_rc{ORB_ID(input_rc)};
int _rcs_fd{-1};
@@ -157,4 +163,10 @@ private:
perf_counter_t _cycle_perf;
perf_counter_t _publish_interval_perf;
uint32_t _bytes_rx{0};
DEFINE_PARAMETERS(
(ParamInt<px4::params::RC_RSSI_PWM_CHAN>) _param_rc_rssi_pwm_chan,
(ParamInt<px4::params::RC_RSSI_PWM_MIN>) _param_rc_rssi_pwm_min,
(ParamInt<px4::params::RC_RSSI_PWM_MAX>) _param_rc_rssi_pwm_max
)
};