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67 lines
1.8 KiB
67 lines
1.8 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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this is a driver for multiple RCInput methods on one board |
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*/ |
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#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO |
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#include "RCInput_Multi.h" |
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extern const AP_HAL::HAL& hal; |
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using namespace Linux; |
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// constructor |
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RCInput_Multi::RCInput_Multi(uint8_t _num_inputs, ...) : |
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num_inputs(_num_inputs) |
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{ |
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va_list ap; |
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inputs = new RCInput*[num_inputs]; |
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if (inputs == nullptr) { |
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AP_HAL::panic("failed to allocated RCInput array"); |
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} |
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va_start(ap, _num_inputs); |
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for (uint8_t i=0; i<num_inputs; i++) { |
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inputs[i] = va_arg(ap, RCInput *); |
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if (inputs[i] == nullptr) { |
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AP_HAL::panic("Bad RCInput object"); |
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} |
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} |
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va_end(ap); |
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} |
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void RCInput_Multi::init() |
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{ |
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for (uint8_t i=0; i<num_inputs; i++) { |
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inputs[i]->init(); |
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} |
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} |
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void RCInput_Multi::_timer_tick(void) |
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{ |
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for (uint8_t i=0; i<num_inputs; i++) { |
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inputs[i]->_timer_tick(); |
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if (inputs[i]->new_input()) { |
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inputs[i]->read(_pwm_values, inputs[i]->num_channels()); |
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_num_channels = inputs[i]->num_channels(); |
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new_rc_input = true; |
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} |
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} |
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} |
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#endif // CONFIG_HAL_BOARD_SUBTYPE |
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