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39 lines
908 B
39 lines
908 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() override; |
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bool new_input() override; |
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uint8_t num_channels() override; |
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uint16_t read(uint8_t ch) override; |
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uint8_t read(uint16_t* periods, uint8_t len) override; |
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int16_t get_rssi(void) override { |
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return _rssi; |
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} |
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void _timer_tick(void); |
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bool rc_bind(int dsmMode) override; |
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private: |
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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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perf_counter_t _perf_rcin; |
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pthread_mutex_t rcin_mutex; |
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int16_t _rssi = -1; |
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uint8_t last_input_source = input_rc_s::RC_INPUT_SOURCE_UNKNOWN; |
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const char *input_source_name(uint8_t id) const; |
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};
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