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78 lines
2.8 KiB
78 lines
2.8 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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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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#ifndef AP_RSSI_H |
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#define AP_RSSI_H |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_Param/AP_Param.h> |
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#include <AP_Math/AP_Math.h> |
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class AP_RSSI |
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{ |
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public: |
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enum RssiType { |
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RSSI_DISABLED = 0x0000, |
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RSSI_ANALOG_PIN = 0x0001, |
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RSSI_RC_CHANNEL_VALUE = 0x0002 |
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}; |
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// parameter block |
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static const struct AP_Param::GroupInfo var_info[]; |
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// RSSI parameters |
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AP_Int8 rssi_type; // Type of RSSI being used |
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AP_Int8 rssi_analog_pin; // Analog pin RSSI value found on |
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AP_Float rssi_analog_pin_range_low; // Voltage value for weakest rssi signal |
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AP_Float rssi_analog_pin_range_high; // Voltage value for strongest rssi signal |
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AP_Int8 rssi_channel; // allows rssi to be read from given channel as PWM value |
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AP_Int16 rssi_channel_low_pwm_value; // PWM value for weakest rssi signal |
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AP_Int16 rssi_channel_high_pwm_value; // PWM value for strongest rssi signal |
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// constructor |
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AP_RSSI(); |
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// destructor |
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~AP_RSSI(void); |
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// Initialize the rssi object and prepare it for use |
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void init(); |
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// Read the receiver RSSI value as a float 0.0f - 1.0f. |
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// 0.0 represents weakest signal, 1.0 represents maximum signal. |
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float read_receiver_rssi(); |
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// Read the receiver RSSI value as an 8-bit integer |
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// 0 represents weakest signal, 255 represents maximum signal. |
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uint8_t read_receiver_rssi_uint8(); |
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private: |
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// Analog Inputs |
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// a pin for reading the receiver RSSI voltage. |
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AP_HAL::AnalogSource *rssi_analog_source; |
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// read the RSSI value from an analog pin - returns float in range 0.0 to 1.0 |
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float read_pin_rssi(); |
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// read the RSSI value from a PWM value on a RC channel |
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float read_channel_rssi(); |
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// Scale and constrain a float rssi value to 0.0 to 1.0 range |
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float scale_and_constrain_float_rssi(float current_rssi_value, float low_rssi_range, float high_rssi_range); |
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}; |
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#endif // AP_RSSI_H
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