ardupilot/libraries/AP_HAL_SMACCM/RCInput.cpp

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#include <AP_HAL_Boards.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
#include "RCInput.h"
#include <hwf4/timer.h>
using namespace SMACCM;
/* Constrain captured pulse to be between min and max pulsewidth. */
static inline uint16_t constrain_pulse(uint16_t p)
{
if (p > RC_INPUT_MAX_PULSEWIDTH)
return RC_INPUT_MAX_PULSEWIDTH;
if (p < RC_INPUT_MIN_PULSEWIDTH)
return RC_INPUT_MIN_PULSEWIDTH;
return p;
}
SMACCMRCInput::SMACCMRCInput()
{
}
void SMACCMRCInput::init(void *unused)
{
clear_overrides();
}
uint8_t SMACCMRCInput::valid()
{
// If any of the overrides are positive, we have valid data.
for (int i = 0; i < SMACCM_RCINPUT_CHANNELS; ++i)
if (_override[i] > 0)
return true;
return timer_is_ppm_valid();
}
// It looks like the APM2 driver clears the PPM sample after this
// function is called, so we do the same thing here for compatibility.
uint16_t SMACCMRCInput::read(uint8_t ch)
{
uint16_t result = 0;
if (_override[ch] != 0) {
result = _override[ch];
} else {
timer_get_ppm_channel(ch, &result);
result = constrain_pulse(result);
}
timer_clear_ppm();
return constrain_pulse(result);
}
// It looks like the APM2 driver clears the PPM sample after this
// function is called, so we do the same thing here for compatibility.
uint8_t SMACCMRCInput::read(uint16_t *periods, uint8_t len)
{
uint8_t result;
result = timer_get_ppm(periods, len, NULL);
for (int i = 0; i < result; ++i) {
periods[i] = constrain_pulse(periods[i]);
if (_override[i] != 0)
periods[i] = _override[i];
}
timer_clear_ppm();
return result;
}
bool SMACCMRCInput::set_overrides(int16_t *overrides, uint8_t len)
{
bool result = false;
for (int i = 0; i < len; ++i)
result |= set_override(i, overrides[i]);
return result;
}
bool SMACCMRCInput::set_override(uint8_t channel, int16_t override)
{
if (override < 0)
return false;
if (channel < SMACCM_RCINPUT_CHANNELS) {
_override[channel] = override;
if (override != 0) {
return true;
}
}
return false;
}
void SMACCMRCInput::clear_overrides()
{
for (int i = 0; i < SMACCM_RCINPUT_CHANNELS; ++i)
_override[i] = 0;
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_SMACCM