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68 lines
1.3 KiB
68 lines
1.3 KiB
#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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#include "RCInput.h" |
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#include <SITL/SITL.h> |
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#include <AP_RCProtocol/AP_RCProtocol.h> |
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using namespace HALSITL; |
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extern const AP_HAL::HAL& hal; |
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void RCInput::init() |
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{ |
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AP::RC().init(); |
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} |
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bool RCInput::new_input() |
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{ |
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if (!using_rc_protocol) { |
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if (AP::RC().new_input()) { |
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using_rc_protocol = true; |
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} |
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} |
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if (using_rc_protocol) { |
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return AP::RC().new_input(); |
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} |
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if (_sitlState->new_rc_input) { |
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_sitlState->new_rc_input = false; |
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return true; |
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} |
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return false; |
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} |
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uint16_t RCInput::read(uint8_t ch) |
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{ |
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if (using_rc_protocol) { |
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return AP::RC().read(ch); |
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} |
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if (ch >= num_channels()) { |
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return 0; |
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} |
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return _sitlState->pwm_input[ch]; |
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} |
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uint8_t RCInput::read(uint16_t* periods, uint8_t len) |
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{ |
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if (len > num_channels()) { |
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len = num_channels(); |
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} |
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for (uint8_t i=0; i < len; i++) { |
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periods[i] = read(i); |
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} |
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return len; |
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} |
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uint8_t RCInput::num_channels() |
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{ |
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if (using_rc_protocol) { |
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return AP::RC().num_channels(); |
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} |
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SITL::SITL *_sitl = AP::sitl(); |
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if (_sitl) { |
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return MIN(_sitl->rc_chancount.get(), SITL_RC_INPUT_CHANNELS); |
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} |
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return SITL_RC_INPUT_CHANNELS; |
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} |
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#endif
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