ardupilot/libraries/AP_HAL_QURT/RCInput.h

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C
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#pragma once
#include "AP_HAL_QURT.h"
#define QURT_RC_INPUT_NUM_CHANNELS 16
class QURT::RCInput : public AP_HAL::RCInput {
public:
RCInput(const char *device_path);
static RCInput *from(AP_HAL::RCInput *rcinput) {
return static_cast<RCInput*>(rcinput);
}
void set_device_path(const char *path) {
device_path = path;
}
void init();
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();
void read_callback(char *buf, size_t size);
private:
volatile bool new_rc_input;
uint16_t _pwm_values[QURT_RC_INPUT_NUM_CHANNELS];
uint8_t _num_channels;
/* override state */
uint16_t _override[QURT_RC_INPUT_NUM_CHANNELS];
// add some DSM input bytes, for RCInput over a serial port
void add_dsm_input(const uint8_t *bytes, size_t nbytes);
const char *device_path;
int32_t fd = -1;
// state of add_dsm_input
struct {
uint8_t frame[16];
uint8_t partial_frame_count;
uint32_t last_input_ms;
} dsm;
};