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rc_input don't store cycle_timestamp

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This commit is contained in:
Daniel Agar 2018-07-29 18:30:39 -04:00
parent 46254420be
commit cdf828cbda
2 changed files with 26 additions and 27 deletions
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48
src/drivers/rc_input/RCInput.cpp
View File

@ -292,7 +292,7 @@ RCInput::cycle()
perf_begin(_cycle_perf);
_cycle_timestamp = hrt_absolute_time();
const hrt_abstime cycle_timestamp = hrt_absolute_time();
#if defined(SPEKTRUM_POWER)
/* vehicle command */
@ -396,23 +396,23 @@ RCInput::cycle()
switch (_rc_scan_state) {
case RC_SCAN_SBUS:
if (_rc_scan_begin == 0) {
_rc_scan_begin = _cycle_timestamp;
_rc_scan_begin = cycle_timestamp;
// Configure serial port for SBUS
sbus_config(_rcs_fd, board_supports_single_wire(RC_UXART_BASE));
rc_io_invert(true, RC_UXART_BASE);
} else if (_rc_scan_locked
|| _cycle_timestamp - _rc_scan_begin < rc_scan_max) {
|| cycle_timestamp - _rc_scan_begin < rc_scan_max) {
// parse new data
if (newBytes > 0) {
rc_updated = sbus_parse(_cycle_timestamp, &_rcs_buf[0], newBytes, &_raw_rc_values[0], &_raw_rc_count, &sbus_failsafe,
rc_updated = sbus_parse(cycle_timestamp, &_rcs_buf[0], newBytes, &_raw_rc_values[0], &_raw_rc_count, &sbus_failsafe,
&sbus_frame_drop, &frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS);
if (rc_updated) {
// we have a new SBUS frame. Publish it.
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_SBUS;
fill_rc_in(_raw_rc_count, _raw_rc_values, _cycle_timestamp,
fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp,
sbus_frame_drop, sbus_failsafe, frame_drops);
_rc_scan_locked = true;
}
@ -427,25 +427,25 @@ RCInput::cycle()
case RC_SCAN_DSM:
if (_rc_scan_begin == 0) {
_rc_scan_begin = _cycle_timestamp;
_rc_scan_begin = cycle_timestamp;
// // Configure serial port for DSM
dsm_config(_rcs_fd);
rc_io_invert(false, RC_UXART_BASE);
} else if (_rc_scan_locked
|| _cycle_timestamp - _rc_scan_begin < rc_scan_max) {
|| cycle_timestamp - _rc_scan_begin < rc_scan_max) {
if (newBytes > 0) {
int8_t dsm_rssi;
// parse new data
rc_updated = dsm_parse(_cycle_timestamp, &_rcs_buf[0], newBytes, &_raw_rc_values[0], &_raw_rc_count,
rc_updated = dsm_parse(cycle_timestamp, &_rcs_buf[0], newBytes, &_raw_rc_values[0], &_raw_rc_count,
&dsm_11_bit, &frame_drops, &dsm_rssi, input_rc_s::RC_INPUT_MAX_CHANNELS);
if (rc_updated) {
// we have a new DSM frame. Publish it.
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_DSM;
fill_rc_in(_raw_rc_count, _raw_rc_values, _cycle_timestamp,
fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp,
false, false, frame_drops, dsm_rssi);
_rc_scan_locked = true;
}
@ -460,13 +460,13 @@ RCInput::cycle()
case RC_SCAN_ST24:
if (_rc_scan_begin == 0) {
_rc_scan_begin = _cycle_timestamp;
_rc_scan_begin = cycle_timestamp;
// Configure serial port for DSM
dsm_config(_rcs_fd);
rc_io_invert(false, RC_UXART_BASE);
} else if (_rc_scan_locked
|| _cycle_timestamp - _rc_scan_begin < rc_scan_max) {
|| cycle_timestamp - _rc_scan_begin < rc_scan_max) {
if (newBytes > 0) {
// parse new data
@ -488,7 +488,7 @@ RCInput::cycle()
if (lost_count == 0) {
// we have a new ST24 frame. Publish it.
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_ST24;
fill_rc_in(_raw_rc_count, _raw_rc_values, _cycle_timestamp,
fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp,
false, false, frame_drops, st24_rssi);
_rc_scan_locked = true;
@ -508,13 +508,13 @@ RCInput::cycle()
case RC_SCAN_SUMD:
if (_rc_scan_begin == 0) {
_rc_scan_begin = _cycle_timestamp;
_rc_scan_begin = cycle_timestamp;
// Configure serial port for DSM
dsm_config(_rcs_fd);
rc_io_invert(false, RC_UXART_BASE);
} else if (_rc_scan_locked
|| _cycle_timestamp - _rc_scan_begin < rc_scan_max) {
|| cycle_timestamp - _rc_scan_begin < rc_scan_max) {
if (newBytes > 0) {
// parse new data
@ -533,7 +533,7 @@ RCInput::cycle()
if (rc_updated) {
// we have a new SUMD frame. Publish it.
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_SUMD;
fill_rc_in(_raw_rc_count, _raw_rc_values, _cycle_timestamp,
fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp,
false, sumd_failsafe, frame_drops, sumd_rssi);
_rc_scan_locked = true;
}
@ -550,19 +550,19 @@ RCInput::cycle()
// skip PPM if it's not supported
#ifdef HRT_PPM_CHANNEL
if (_rc_scan_begin == 0) {
_rc_scan_begin = _cycle_timestamp;
_rc_scan_begin = cycle_timestamp;
// Configure timer input pin for CPPM
px4_arch_configgpio(GPIO_PPM_IN);
rc_io_invert(false, RC_UXART_BASE);
} else if (_rc_scan_locked || _cycle_timestamp - _rc_scan_begin < rc_scan_max) {
} else if (_rc_scan_locked || cycle_timestamp - _rc_scan_begin < rc_scan_max) {
// see if we have new PPM input data
if ((ppm_last_valid_decode != _rc_in.timestamp_last_signal) && ppm_decoded_channels > 3) {
// we have a new PPM frame. Publish it.
rc_updated = true;
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;
fill_rc_in(ppm_decoded_channels, ppm_buffer, _cycle_timestamp, false, false, 0);
fill_rc_in(ppm_decoded_channels, ppm_buffer, cycle_timestamp, false, false, 0);
_rc_scan_locked = true;
_rc_in.rc_ppm_frame_length = ppm_frame_length;
_rc_in.timestamp_last_signal = ppm_last_valid_decode;
@ -584,23 +584,23 @@ RCInput::cycle()
case RC_SCAN_CRSF:
if (_rc_scan_begin == 0) {
_rc_scan_begin = _cycle_timestamp;
_rc_scan_begin = cycle_timestamp;
// Configure serial port for CRSF
crsf_config(_rcs_fd);
rc_io_invert(false, RC_UXART_BASE);
} else if (_rc_scan_locked
|| _cycle_timestamp - _rc_scan_begin < rc_scan_max) {
|| cycle_timestamp - _rc_scan_begin < rc_scan_max) {
// parse new data
if (newBytes > 0) {
rc_updated = crsf_parse(_cycle_timestamp, &_rcs_buf[0], newBytes, &_raw_rc_values[0], &_raw_rc_count,
rc_updated = crsf_parse(cycle_timestamp, &_rcs_buf[0], newBytes, &_raw_rc_values[0], &_raw_rc_count,
input_rc_s::RC_INPUT_MAX_CHANNELS);
if (rc_updated) {
// we have a new CRSF frame. Publish it.
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_CRSF;
fill_rc_in(_raw_rc_count, _raw_rc_values, _cycle_timestamp, false, false, 0);
fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, false, false, 0);
// Enable CRSF Telemetry only on the Omnibus, because on Pixhawk (-related) boards
// we cannot write to the RC UART
@ -616,7 +616,7 @@ RCInput::cycle()
_rc_scan_locked = true;
if (_crsf_telemetry) {
_crsf_telemetry->update(_cycle_timestamp);
_crsf_telemetry->update(cycle_timestamp);
}
}
}
@ -636,7 +636,7 @@ RCInput::cycle()
if ((ppm_last_valid_decode != _rc_in.timestamp_last_signal) && ppm_decoded_channels > 3) {
// we have a new PPM frame. Publish it.
rc_updated = true;
fill_rc_in(ppm_decoded_channels, ppm_buffer, _cycle_timestamp, false, false, 0);
fill_rc_in(ppm_decoded_channels, ppm_buffer, cycle_timestamp, false, false, 0);
_rc_in.rc_ppm_frame_length = ppm_frame_length;
_rc_in.timestamp_last_signal = ppm_last_valid_decode;
}

5
src/drivers/rc_input/RCInput.hpp
View File

@ -112,11 +112,10 @@ private:
};
hrt_abstime _rc_scan_begin{0};
bool _rc_scan_locked{false};
bool _report_lock{true};
hrt_abstime _cycle_timestamp{0};
unsigned _current_update_interval{4000};
bool _run_as_task{false};
@ -126,7 +125,7 @@ private:
int _vehicle_cmd_sub{-1};
int _adc_sub{-1};
rc_input_values _rc_in{};
input_rc_s _rc_in{};
float _analog_rc_rssi_volt{-1.0f};
bool _analog_rc_rssi_stable{false};