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64 lines
1.6 KiB
64 lines
1.6 KiB
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#ifndef __AP_HAL_LINUX_RCINPUT_H__ |
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#define __AP_HAL_LINUX_RCINPUT_H__ |
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#include "AP_HAL_Linux.h" |
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#define LINUX_RC_INPUT_NUM_CHANNELS 16 |
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class Linux::LinuxRCInput : public AP_HAL::RCInput { |
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public: |
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LinuxRCInput(); |
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virtual void init(void* machtnichts); |
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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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// default empty _timer_tick, this is overridden by board |
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// specific implementations |
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virtual void _timer_tick() {} |
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protected: |
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void _process_rc_pulse(uint16_t width_s0, uint16_t width_s1); |
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private: |
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volatile bool new_rc_input; |
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uint16_t _pwm_values[LINUX_RC_INPUT_NUM_CHANNELS]; |
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uint8_t _num_channels; |
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void _process_ppmsum_pulse(uint16_t width); |
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void _process_sbus_pulse(uint16_t width_s0, uint16_t width_s1); |
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void _process_dsm_pulse(uint16_t width_s0, uint16_t width_s1); |
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/* override state */ |
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uint16_t _override[LINUX_RC_INPUT_NUM_CHANNELS]; |
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// state of ppm decoder |
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struct { |
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int8_t _channel_counter; |
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uint16_t _pulse_capt[LINUX_RC_INPUT_NUM_CHANNELS]; |
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} ppm_state; |
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// state of SBUS bit decoder |
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struct { |
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uint16_t bytes[25]; // including start bit, parity and stop bits |
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uint16_t bit_ofs; |
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} sbus_state; |
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// state of DSM decoder |
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struct { |
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uint16_t bytes[16]; // including start bit and stop bit |
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uint16_t bit_ofs; |
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} dsm_state; |
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}; |
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#include "RCInput_PRU.h" |
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#include "RCInput_ZYNQ.h" |
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#endif // __AP_HAL_LINUX_RCINPUT_H__
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