ardupilot/libraries/AP_HAL_FLYMAPLE/RCInput.h

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/*
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/>.
*/
/*
Flymaple port by Mike McCauley
*/
#ifndef __AP_HAL_FLYMAPLE_RCINPUT_H__
#define __AP_HAL_FLYMAPLE_RCINPUT_H__
#include "AP_HAL_FLYMAPLE.h"
#define FLYMAPLE_RC_INPUT_NUM_CHANNELS 8
#define FLYMAPLE_RC_INPUT_MIN_CHANNELS 5 // for ppm sum we allow less than 8 channels to make up a valid packet
class AP_HAL_FLYMAPLE_NS::FLYMAPLERCInput : public AP_HAL::RCInput {
public:
FLYMAPLERCInput();
void init(void* machtnichts);
bool new_input();
uint8_t num_channels();
uint16_t read(uint8_t ch);
uint8_t read(uint16_t* periods, uint8_t len);
bool set_overrides(int16_t *overrides, uint8_t len);
bool set_override(uint8_t channel, int16_t override);
void clear_overrides();
private:
/* private callback for input capture ISR */
static void _timer_capt_cb(void);
/* private variables to communicate with input capture isr */
static volatile uint16_t _pulse_capt[FLYMAPLE_RC_INPUT_NUM_CHANNELS];
static volatile uint8_t _valid_channels;
static volatile uint32_t _last_input_interrupt_time;
/* override state */
uint16_t _override[FLYMAPLE_RC_INPUT_NUM_CHANNELS];
};
#endif // __AP_HAL_FLYMAPLE_RCINPUT_H__