ardupilot/libraries/AP_Button/AP_Button.cpp

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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/>.
*/
#include "AP_Button.h"
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_Button::var_info[] = {
// @Param: ENABLE
// @DisplayName: Enable button reporting
// @Description: This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible
// @Values: 0:Disabled, 1:Enabled
// @User: Advanced
AP_GROUPINFO_FLAGS("ENABLE", 0, AP_Button, enable, 0, AP_PARAM_FLAG_ENABLE),
// @Param: PIN1
// @DisplayName: First button Pin
// @Description: Digital pin number for first button input.
// @User: Standard
// @Values: -1:Disabled,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
AP_GROUPINFO("PIN1", 1, AP_Button, pin[0], -1),
// @Param: PIN2
// @DisplayName: Second button Pin
// @Description: Digital pin number for second button input.
// @User: Standard
// @Values: -1:Disabled,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
AP_GROUPINFO("PIN2", 2, AP_Button, pin[1], -1),
// @Param: PIN3
// @DisplayName: Third button Pin
// @Description: Digital pin number for third button input.
// @User: Standard
// @Values: -1:Disabled,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
AP_GROUPINFO("PIN3", 3, AP_Button, pin[2], -1),
// @Param: PIN4
// @DisplayName: Fourth button Pin
// @Description: Digital pin number for fourth button input.
// @User: Standard
// @Values: -1:Disabled,50:Pixhawk AUXOUT1,51:Pixhawk AUXOUT2,52:Pixhawk AUXOUT3,53:Pixhawk AUXOUT4,54:Pixhawk AUXOUT5,55:Pixhawk AUXOUT6,111:PX4 FMU Relay1,112:PX4 FMU Relay2,113:PX4IO Relay1,114:PX4IO Relay2,115:PX4IO ACC1,116:PX4IO ACC2
AP_GROUPINFO("PIN4", 4, AP_Button, pin[3], -1),
// @Param: REPORT_SEND
// @DisplayName: Report send time
// @Description: The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only.
// @User: Standard
// @Range: 0 3600
AP_GROUPINFO("REPORT_SEND", 5, AP_Button, report_send_time, 10),
AP_GROUPEND
};
// constructor
AP_Button::AP_Button(void)
{
AP_Param::setup_object_defaults(this, var_info);
}
/*
update and report, called from main loop
*/
void AP_Button::update(void)
{
if (!enable) {
return;
}
// call setup pins at update rate (5Hz) to allow for runtime parameter change of pins
setup_pins();
if (!initialised) {
initialised = true;
// get initial mask
last_mask = get_mask();
// register 1kHz timer callback
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Button::timer_update, void));
}
if (last_change_time_ms != 0 &&
(AP_HAL::millis() - last_report_ms) > AP_BUTTON_REPORT_PERIOD_MS &&
(AP_HAL::millis64() - last_change_time_ms) < report_send_time*1000ULL) {
// send a change report
last_report_ms = AP_HAL::millis();
// send a report to GCS
send_report();
}
}
/*
get current mask
*/
uint8_t AP_Button::get_mask(void)
{
uint8_t mask = 0;
for (uint8_t i=0; i<AP_BUTTON_NUM_PINS; i++) {
if (pin[i] == -1) {
continue;
}
mask |= hal.gpio->read(pin[i]) << i;
}
return mask;
}
/*
called at 1kHz to check for button state change
*/
void AP_Button::timer_update(void)
{
if (!enable) {
return;
}
uint8_t mask = get_mask();
if (mask != last_mask) {
last_mask = mask;
last_change_time_ms = AP_HAL::millis64();
}
}
/*
send a BUTTON_CHANGE report to the GCS
*/
void AP_Button::send_report(void)
{
uint8_t chan_mask = GCS_MAVLINK::active_channel_mask();
uint32_t now = AP_HAL::millis();
for (uint8_t i=0; i<MAVLINK_COMM_NUM_BUFFERS; i++) {
if ((chan_mask & (1U<<i)) == 0) {
// not active
continue;
}
mavlink_channel_t chan = (mavlink_channel_t)i;
if (HAVE_PAYLOAD_SPACE(chan, BUTTON_CHANGE)) {
mavlink_msg_button_change_send(chan,
now,
(uint32_t)last_change_time_ms,
last_mask);
}
}
}
/*
setup the pins as input with pullup. We need pullup to give reliable
input with a pulldown button
*/
void AP_Button::setup_pins(void)
{
for (uint8_t i=0; i<AP_BUTTON_NUM_PINS; i++) {
if (pin[i] == -1) {
continue;
}
hal.gpio->pinMode(pin[i], HAL_GPIO_INPUT);
// setup pullup
hal.gpio->write(pin[i], 1);
}
}