mirror of https://github.com/ArduPilot/ardupilot
64 lines
1.5 KiB
C
64 lines
1.5 KiB
C
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#pragma once
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#include "AP_RCProtocol_config.h"
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#if AP_RCPROTOCOL_DRONECAN_ENABLED
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#include "AP_RCProtocol_Backend.h"
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#include <AP_DroneCAN/AP_DroneCAN.h>
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#include <AP_Common/missing/endian.h>
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class AP_RCProtocol_DroneCAN : public AP_RCProtocol_Backend {
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public:
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AP_RCProtocol_DroneCAN(AP_RCProtocol &_frontend) :
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AP_RCProtocol_Backend(_frontend) {
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_singleton = this;
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}
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static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
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void update() override;
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private:
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static class AP_RCProtocol_DroneCAN *_singleton;
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static void handle_rcinput(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const dronecan_sensors_rc_RCInput &msg);
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static AP_RCProtocol_DroneCAN* get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id);
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struct {
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uint8_t quality;
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union {
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uint16_t status;
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struct {
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uint8_t QUALITY_VALID : 1;
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uint8_t FAILSAFE : 1;
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} bits;
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};
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uint8_t num_channels;
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uint16_t channels[MAX_RCIN_CHANNELS];
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uint32_t last_sample_time_ms;
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HAL_Semaphore sem;
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} rcin;
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// Module Detection Registry
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static struct Registry {
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struct DetectedDevice {
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AP_DroneCAN* ap_dronecan;
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uint8_t node_id;
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AP_RCProtocol_DroneCAN *driver;
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} detected_devices[1];
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HAL_Semaphore sem;
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} registry;
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uint32_t last_receive_ms;
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};
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#endif // AP_RCPROTOCOL_DRONECAN_ENABLED
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