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.
68 lines
1.9 KiB
68 lines
1.9 KiB
/* |
|
* This file is free software: you can redistribute it and/or modify it |
|
* under the terms of the GNU General Public License as published by the |
|
* Free Software Foundation, either version 3 of the License, or |
|
* (at your option) any later version. |
|
* |
|
* This file is distributed in the hope that it will be useful, but |
|
* WITHOUT ANY WARRANTY; without even the implied warranty of |
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
|
* See the GNU General Public License for more details. |
|
* |
|
* You should have received a copy of the GNU General Public License along |
|
* with this program. If not, see <http://www.gnu.org/licenses/>. |
|
* |
|
* Code by Andrew Tridgell and Siddharth Bharat Purohit |
|
*/ |
|
#pragma once |
|
|
|
#include "AP_HAL_ChibiOS.h" |
|
#ifdef HAL_RCINPUT_WITH_AP_RADIO |
|
#include <AP_Radio/AP_Radio.h> |
|
#endif |
|
|
|
#ifndef RC_INPUT_MAX_CHANNELS |
|
#define RC_INPUT_MAX_CHANNELS 18 |
|
#endif |
|
|
|
class ChibiOS::ChibiRCInput : public AP_HAL::RCInput { |
|
public: |
|
void init() override; |
|
bool new_input() override; |
|
uint8_t num_channels() override; |
|
uint16_t read(uint8_t ch) override; |
|
uint8_t read(uint16_t* periods, uint8_t len) override; |
|
|
|
int16_t get_rssi(void) override { |
|
return _rssi; |
|
} |
|
|
|
|
|
bool set_overrides(int16_t *overrides, uint8_t len) override; |
|
bool set_override(uint8_t channel, int16_t override) override; |
|
void clear_overrides() override; |
|
|
|
void _timer_tick(void); |
|
bool rc_bind(int dsmMode) override; |
|
|
|
private: |
|
/* override state */ |
|
uint16_t _override[RC_INPUT_MAX_CHANNELS]; |
|
uint16_t _rc_values[RC_INPUT_MAX_CHANNELS] = {0}; |
|
|
|
uint64_t _last_read; |
|
bool _override_valid; |
|
uint8_t _num_channels; |
|
mutex_t rcin_mutex; |
|
int16_t _rssi = -1; |
|
uint32_t _rcin_timestamp_last_signal; |
|
bool _init; |
|
#ifdef HAL_RCINPUT_WITH_AP_RADIO |
|
bool _radio_init; |
|
AP_Radio *radio; |
|
uint32_t last_radio_us; |
|
#endif |
|
#if HAL_WITH_IO_MCU |
|
uint32_t last_iomcu_us; |
|
#endif |
|
};
|
|
|