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38 lines
912 B
38 lines
912 B
#pragma once |
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#include "AP_HAL_VRBRAIN.h" |
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#include <drivers/drv_rc_input.h> |
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#include <systemlib/perf_counter.h> |
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#include <pthread.h> |
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#ifndef RC_INPUT_MAX_CHANNELS |
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#define RC_INPUT_MAX_CHANNELS 18 |
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#endif |
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class VRBRAIN::VRBRAINRCInput : public AP_HAL::RCInput { |
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public: |
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void init(); |
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bool new_input(); |
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uint8_t num_channels(); |
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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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bool set_overrides(int16_t *overrides, uint8_t len); |
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bool set_override(uint8_t channel, int16_t override); |
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void clear_overrides(); |
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void _timer_tick(void); |
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bool rc_bind(int dsmMode); |
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private: |
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/* override state */ |
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uint16_t _override[RC_INPUT_MAX_CHANNELS]; |
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struct rc_input_values _rcin; |
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int _rc_sub; |
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uint64_t _last_read; |
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bool _override_valid; |
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perf_counter_t _perf_rcin; |
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pthread_mutex_t rcin_mutex; |
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};
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