You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
85 lines
2.8 KiB
85 lines
2.8 KiB
/**************************************************************************** |
|
* |
|
* Copyright (C) 2015 Mark Charlebois. All rights reserved. |
|
* Copyright (C) 2016 PX4 Development Team. All rights reserved. |
|
* |
|
* Redistribution and use in source and binary forms, with or without |
|
* modification, are permitted provided that the following conditions |
|
* are met: |
|
* |
|
* 1. Redistributions of source code must retain the above copyright |
|
* notice, this list of conditions and the following disclaimer. |
|
* 2. Redistributions in binary form must reproduce the above copyright |
|
* notice, this list of conditions and the following disclaimer in |
|
* the documentation and/or other materials provided with the |
|
* distribution. |
|
* 3. Neither the name PX4 nor the names of its contributors may be |
|
* used to endorse or promote products derived from this software |
|
* without specific prior written permission. |
|
* |
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
|
* POSSIBILITY OF SUCH DAMAGE. |
|
* |
|
****************************************************************************/ |
|
|
|
#pragma once |
|
|
|
#include <px4_platform_common/px4_config.h> |
|
#include <px4_platform_common/atomic.h> |
|
#include <px4_platform_common/defines.h> |
|
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp> |
|
#include <drivers/drv_hrt.h> |
|
#include <lib/perf/perf_counter.h> |
|
#include <uORB/PublicationMulti.hpp> |
|
#include <uORB/topics/input_rc.h> |
|
|
|
namespace navio_sysfs_rc_in |
|
{ |
|
|
|
class NavioSysRCInput : public px4::ScheduledWorkItem |
|
{ |
|
public: |
|
NavioSysRCInput(); |
|
~NavioSysRCInput() override; |
|
|
|
/* @return 0 on success, -errno on failure */ |
|
int start(); |
|
|
|
/* @return 0 on success, -errno on failure */ |
|
void stop(); |
|
|
|
int print_status(); |
|
|
|
bool isRunning() { return _isRunning; } |
|
|
|
private: |
|
void Run() override; |
|
|
|
int navio_rc_init(); |
|
|
|
px4::atomic_bool _should_exit{false}; |
|
|
|
bool _isRunning{false}; |
|
|
|
uORB::PublicationMulti<input_rc_s> _input_rc_pub{ORB_ID(input_rc)}; |
|
|
|
static constexpr int CHANNELS{14}; |
|
int _channel_fd[CHANNELS] {}; |
|
int _connected_fd{-1}; |
|
|
|
bool _connected{false}; |
|
|
|
perf_counter_t _publish_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": publish interval")}; |
|
}; |
|
|
|
}; // namespace navio_sysfs_rc_in
|
|
|