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53 lines
1.5 KiB
53 lines
1.5 KiB
/* |
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* This file is free software: you can redistribute it and/or modify it |
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* under the terms of the GNU General Public License as published by the |
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* Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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* See the GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with this program. If not, see <http://www.gnu.org/licenses/>. |
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* |
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*/ |
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#pragma once |
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#include "AP_HAL_ESP32.h" |
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#include "Semaphores.h" |
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#include "RmtSigReader.h" |
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#include <AP_RCProtocol/AP_RCProtocol.h> |
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#ifndef RC_INPUT_MAX_CHANNELS |
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#define RC_INPUT_MAX_CHANNELS 18 |
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#endif |
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class ESP32::RCInput : public AP_HAL::RCInput |
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{ |
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public: |
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void init() override; |
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bool new_input() override; |
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uint8_t num_channels() override; |
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uint16_t read(uint8_t ch) override; |
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uint8_t read(uint16_t* periods, uint8_t len) override; |
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void _timer_tick(void); |
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const char *protocol() const override |
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{ |
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return last_protocol; |
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} |
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private: |
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uint16_t _rc_values[RC_INPUT_MAX_CHANNELS] = {0}; |
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uint64_t _last_read; |
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uint8_t _num_channels; |
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Semaphore rcin_mutex; |
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int16_t _rssi = -1; |
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uint32_t _rcin_timestamp_last_signal; |
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bool _init; |
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const char *last_protocol; |
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ESP32::RmtSigReader sig_reader; |
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};
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