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54 lines
1.8 KiB
54 lines
1.8 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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Flymaple port by Mike McCauley |
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*/ |
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#ifndef __AP_HAL_FLYMAPLE_RCINPUT_H__ |
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#define __AP_HAL_FLYMAPLE_RCINPUT_H__ |
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#include <AP_HAL_FLYMAPLE.h> |
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#define FLYMAPLE_RC_INPUT_NUM_CHANNELS 8 |
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#define FLYMAPLE_RC_INPUT_MIN_CHANNELS 5 // for ppm sum we allow less than 8 channels to make up a valid packet |
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class AP_HAL_FLYMAPLE_NS::FLYMAPLERCInput : public AP_HAL::RCInput { |
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public: |
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FLYMAPLERCInput(); |
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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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private: |
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/* private callback for input capture ISR */ |
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static void _timer_capt_cb(void); |
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/* private variables to communicate with input capture isr */ |
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static volatile uint16_t _pulse_capt[FLYMAPLE_RC_INPUT_NUM_CHANNELS]; |
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static volatile uint8_t _valid_channels; |
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static volatile uint32_t _last_input_interrupt_time; |
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/* override state */ |
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uint16_t _override[FLYMAPLE_RC_INPUT_NUM_CHANNELS]; |
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}; |
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#endif // __AP_HAL_FLYMAPLE_RCINPUT_H__
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