ardupilot/libraries/AP_RSSI/AP_RSSI.h

106 lines
3.7 KiB
C
Raw Normal View History

/*
This program 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 program 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/>.
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
class AP_RSSI
{
public:
enum RssiType {
2015-09-16 04:23:46 -03:00
RSSI_DISABLED = 0,
RSSI_ANALOG_PIN = 1,
RSSI_RC_CHANNEL_VALUE = 2,
2018-07-28 01:35:10 -03:00
RSSI_RECEIVER = 3,
RSSI_PWM_PIN = 4
};
2015-09-16 03:58:38 -03:00
AP_RSSI();
2017-08-29 20:47:23 -03:00
/* Do not allow copies */
AP_RSSI(const AP_RSSI &other) = delete;
AP_RSSI &operator=(const AP_RSSI&) = delete;
// destructor
2017-08-29 20:47:23 -03:00
~AP_RSSI(void);
2015-09-16 03:58:38 -03:00
2018-05-02 07:16:35 -03:00
static AP_RSSI *get_instance();
// Initialize the rssi object and prepare it for use
void init();
2015-09-16 03:58:38 -03:00
2015-09-16 04:24:47 -03:00
// return true if rssi reading is enabled
bool enabled() const { return rssi_type != RSSI_DISABLED; }
// Read the receiver RSSI value as a float 0.0f - 1.0f.
// 0.0 represents weakest signal, 1.0 represents maximum signal.
float read_receiver_rssi();
2015-09-16 03:58:38 -03:00
// Read the receiver RSSI value as an 8-bit integer
// 0 represents weakest signal, 255 represents maximum signal.
uint8_t read_receiver_rssi_uint8();
2015-09-16 03:58:38 -03:00
2015-09-16 04:23:46 -03:00
// parameter block
static const struct AP_Param::GroupInfo var_info[];
private:
2018-05-02 07:16:35 -03:00
static AP_RSSI *_s_instance;
2015-09-16 04:23:46 -03:00
// RSSI parameters
AP_Int8 rssi_type; // Type of RSSI being used
AP_Int8 rssi_analog_pin; // Analog pin RSSI value found on
AP_Float rssi_analog_pin_range_low; // Voltage value for weakest rssi signal
AP_Float rssi_analog_pin_range_high; // Voltage value for strongest rssi signal
AP_Int8 rssi_channel; // allows rssi to be read from given channel as PWM value
AP_Int16 rssi_channel_low_pwm_value; // PWM value for weakest rssi signal
AP_Int16 rssi_channel_high_pwm_value; // PWM value for strongest rssi signal
// Analog Inputs
// a pin for reading the receiver RSSI voltage.
AP_HAL::AnalogSource *rssi_analog_source;
2015-09-16 03:58:38 -03:00
2018-07-28 01:35:10 -03:00
// PWM input
static struct PWMState {
uint32_t gpio; // gpio pin used for reading pwm
uint32_t last_gpio; // last gpio pin used for reading pwm (used to recognise change in pin assignment)
uint32_t value; // last calculated pwm value
uint32_t last_reading_ms; // system time of last read (used for health reporting)
uint64_t pulse_start_us; // system time of start of pulse
} pwm_state;
// read the RSSI value from an analog pin - returns float in range 0.0 to 1.0
float read_pin_rssi();
// read the RSSI value from a PWM value on a RC channel
float read_channel_rssi();
2018-07-28 01:35:10 -03:00
// read the PWM value from a pin
float read_pwm_pin_rssi();
// Scale and constrain a float rssi value to 0.0 to 1.0 range
float scale_and_constrain_float_rssi(float current_rssi_value, float low_rssi_range, float high_rssi_range);
2018-07-28 01:35:10 -03:00
// PWM input handling
uint32_t get_gpio(uint8_t pin_number) const;
2018-07-28 01:35:10 -03:00
static int irq_handler(int irq, void *context);
};
2018-05-02 07:16:35 -03:00
namespace AP {
AP_RSSI *rssi();
};