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62 lines
1.7 KiB
62 lines
1.7 KiB
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#ifndef __AP_HAL_AVR_RC_INPUT_H__ |
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#define __AP_HAL_AVR_RC_INPUT_H__ |
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#include <AP_HAL.h> |
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#include "AP_HAL_AVR_Namespace.h" |
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#define AVR_RC_INPUT_NUM_CHANNELS 8 |
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class AP_HAL_AVR::APM1RCInput : public AP_HAL::RCInput { |
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public: |
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/** |
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* init: |
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* HAL_AVR::init should pass in a AP_HAL_AVR::ISRRegistry* as a void* |
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*/ |
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void init(void* isrregistry); |
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/** |
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* valid(): |
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* Return the number of currently valid channels. |
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* Typically 0 (no valid radio channels) or 8 (implementation-defined) |
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* Could be less than or greater than 8 depending on your incoming radio |
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* or PPM stream |
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*/ |
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uint8_t valid(); |
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/** |
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* read(uint8_t): |
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* Read a single channel at a time |
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*/ |
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uint16_t read(uint8_t ch); |
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/** |
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* read(uint16_t*,uint8_t): |
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* Read an array of channels, return the valid count |
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*/ |
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uint8_t read(uint16_t* periods, uint8_t len); |
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private: |
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/* private callback for input capture ISR */ |
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static void _timer4_capt_cb(void); |
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/* private variables to communicate with input capture isr */ |
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static volatile uint16_t _pulse_capt[AVR_RC_INPUT_NUM_CHANNELS]; |
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static volatile uint8_t _valid; |
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}; |
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class AP_HAL_AVR::APM2RCInput : public AP_HAL::RCInput { |
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/* Pass in a AP_HAL_AVR::ISRRegistry* as void*. */ |
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void init(void* isrregistry); |
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uint8_t valid(); |
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uint16_t read(uint8_t ch); |
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uint8_t read(uint16_t* periods, uint8_t len); |
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private: |
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/* private callback for input capture ISR */ |
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static void _timer5_capt_cb(void); |
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/* private variables to communicate with input capture isr */ |
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static volatile uint16_t _pulse_capt[AVR_RC_INPUT_NUM_CHANNELS]; |
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static volatile uint8_t _valid; |
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}; |
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#endif // __AP_HAL_AVR_RC_INPUT_H__ |
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