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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>
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// very crude debounce method
# define DEBOUNCE_MS 50
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extern const AP_HAL : : HAL & hal ;
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AP_Button * AP_Button : : _singleton ;
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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
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// @Values: -1:Disabled,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6
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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
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// @Values: -1:Disabled,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6
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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
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// @Values: -1:Disabled,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6
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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
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// @Values: -1:Disabled,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6
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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 ) ,
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// @Param: OPTIONS1
// @DisplayName: Button Pin 1 Options
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// @Description: Options for Pin 1. PWM input detects PWM above or below 1800/1200us instead of logic level. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.
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// @User: Standard
// @Bitmask: 0:PWM Input,1:InvertInput
AP_GROUPINFO ( " OPTIONS1 " , 6 , AP_Button , options [ 0 ] , 0 ) ,
// @Param: OPTIONS2
// @DisplayName: Button Pin 2 Options
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// @Description: Options for Pin 2. PWM input detects PWM above or below 1800/1200us instead of logic level. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.
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// @User: Standard
// @Bitmask: 0:PWM Input,1:InvertInput
AP_GROUPINFO ( " OPTIONS2 " , 7 , AP_Button , options [ 1 ] , 0 ) ,
// @Param: OPTIONS3
// @DisplayName: Button Pin 3 Options
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// @Description: Options for Pin 3. PWM input detects PWM above or below 1800/1200us instead of logic level. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.
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// @Bitmask: 0:PWM Input,1:InvertInput
AP_GROUPINFO ( " OPTIONS3 " , 8 , AP_Button , options [ 2 ] , 0 ) ,
// @Param: OPTIONS4
// @DisplayName: Button Pin 4 Options
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// @Description: Options for Pin 4. PWM input detects PWM above or below 1800/1200us instead of logic level. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.
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// @User: Standard
// @Bitmask: 0:PWM Input,1:InvertInput
AP_GROUPINFO ( " OPTIONS4 " , 9 , AP_Button , options [ 3 ] , 0 ) ,
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// @Param: FUNC1
// @DisplayName: Button Pin 1 RC Channel function
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// @Description: Auxiliary RC Options function executed on pin change
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// @Values{Copter}: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 37:Throw, 38:ADSB Avoidance En, 39:PrecLoiter, 40:Proximity Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 46:RC Override Enable, 47:User Function 1, 48:User Function 2, 49:User Function 3, 52:Acro, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 60:ZigZag, 61:ZigZag SaveWP, 62:Compass Learn, 65:GPS Disable, 66:Relay5, 67:Relay6, 68:Stabilize, 69:PosHold, 70:AltHold, 71:FlowHold, 72:Circle, 73:Drift, 75:SurfaceTrackingUpDown, 76:Standby Mode, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81:Disarm, 83:ZigZag Auto, 84:Air Mode, 85:Generator, 90:EKF Pos Source, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
// @Values{Rover}: 0:Do Nothing, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 11:Fence, 16:Auto, 19:Gripper, 24:Auto Mission Reset, 27:Retract Mount, 28:Relay On/Off, 30:Lost Rover Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 40:Proximity Avoidance, 41:ArmDisarm, 42:SmartRTL, 46:RC Override Enable, 50:LearnCruise, 51:Manual, 52:Acro, 53:Steering, 54:Hold, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 59:Simple Mode, 62:Compass Learn, 63:Sailboat Tack, 65:GPS Disable, 66:Relay5, 67:Relay6, 74:Sailboat motoring 3pos, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81:Disarm, 90:EKF Pos Source, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 201:Roll, 202:Pitch, 203:Walking Height, 207:MainSail, 208:Flap, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
// @Values{Plane}: 0:Do Nothing, 4:ModeRTL, 9:Camera Trigger, 16:ModeAuto, 24:Auto Mission Reset, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Plane Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 38:ADSB Avoidance En, 41:ArmDisarm, 43:InvertedFlight, 46:RC Override Enable, 51:ModeManual, 55:ModeGuided, 56:ModeLoiter, 58:Clear Waypoints, 62:Compass Learn, 64:Reverse Throttle, 65:GPS Disable, 66:Relay5, 67:Relay6, 72:ModeCircle, 77:ModeTakeoff, 78:RunCam Control, 79:RunCam OSD Control, 81:Disarm, 82:QAssist 3pos, 84:Air Mode, 85:Generator, 86: Non Auto Terrain Follow Disable, 87:Crow Select, 88:Soaring Enable, 89:Landing Flare, 90:EKF Pos Source, 91:Airspeed Ratio Calibration, 92:FBWA, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 208:Flap, 209: Forward Throttle, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
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// @User: Standard
AP_GROUPINFO ( " FUNC1 " , 10 , AP_Button , pin_func [ 0 ] , ( uint16_t ) RC_Channel : : AUX_FUNC : : DO_NOTHING ) ,
// @Param: FUNC2
// @DisplayName: Button Pin 2 RC Channel function
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// @Description: Auxiliary RC Options function executed on pin change
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// @Values{Copter}: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 37:Throw, 38:ADSB Avoidance En, 39:PrecLoiter, 40:Proximity Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 46:RC Override Enable, 47:User Function 1, 48:User Function 2, 49:User Function 3, 52:Acro, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 60:ZigZag, 61:ZigZag SaveWP, 62:Compass Learn, 65:GPS Disable, 66:Relay5, 67:Relay6, 68:Stabilize, 69:PosHold, 70:AltHold, 71:FlowHold, 72:Circle, 73:Drift, 75:SurfaceTrackingUpDown, 76:Standby Mode, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81:Disarm, 83:ZigZag Auto, 84:Air Mode, 85:Generator, 90:EKF Pos Source, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
// @Values{Rover}: 0:Do Nothing, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 11:Fence, 16:Auto, 19:Gripper, 24:Auto Mission Reset, 27:Retract Mount, 28:Relay On/Off, 30:Lost Rover Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 40:Proximity Avoidance, 41:ArmDisarm, 42:SmartRTL, 46:RC Override Enable, 50:LearnCruise, 51:Manual, 52:Acro, 53:Steering, 54:Hold, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 59:Simple Mode, 62:Compass Learn, 63:Sailboat Tack, 65:GPS Disable, 66:Relay5, 67:Relay6, 74:Sailboat motoring 3pos, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81:Disarm, 90:EKF Pos Source, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 201:Roll, 202:Pitch, 203:Walking Height, 207:MainSail, 208:Flap, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
// @Values{Plane}: 0:Do Nothing, 4:ModeRTL, 9:Camera Trigger, 16:ModeAuto, 24:Auto Mission Reset, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Plane Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 38:ADSB Avoidance En, 41:ArmDisarm, 43:InvertedFlight, 46:RC Override Enable, 51:ModeManual, 55:ModeGuided, 56:ModeLoiter, 58:Clear Waypoints, 62:Compass Learn, 64:Reverse Throttle, 65:GPS Disable, 66:Relay5, 67:Relay6, 72:ModeCircle, 77:ModeTakeoff, 78:RunCam Control, 79:RunCam OSD Control, 81:Disarm, 82:QAssist 3pos, 84:Air Mode, 85:Generator, 86: Non Auto Terrain Follow Disable, 87:Crow Select, 88:Soaring Enable, 89:Landing Flare, 90:EKF Pos Source, 91:Airspeed Ratio Calibration, 92:FBWA, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 208:Flap, 209: Forward Throttle, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
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// @User: Standard
AP_GROUPINFO ( " FUNC2 " , 11 , AP_Button , pin_func [ 1 ] , ( uint16_t ) RC_Channel : : AUX_FUNC : : DO_NOTHING ) ,
// @Param: FUNC3
// @DisplayName: Button Pin 3 RC Channel function
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// @Description: Auxiliary RC Options function executed on pin change
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// @Values{Copter}: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 37:Throw, 38:ADSB Avoidance En, 39:PrecLoiter, 40:Proximity Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 46:RC Override Enable, 47:User Function 1, 48:User Function 2, 49:User Function 3, 52:Acro, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 60:ZigZag, 61:ZigZag SaveWP, 62:Compass Learn, 65:GPS Disable, 66:Relay5, 67:Relay6, 68:Stabilize, 69:PosHold, 70:AltHold, 71:FlowHold, 72:Circle, 73:Drift, 75:SurfaceTrackingUpDown, 76:Standby Mode, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81:Disarm, 83:ZigZag Auto, 84:Air Mode, 85:Generator, 90:EKF Pos Source, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
// @Values{Rover}: 0:Do Nothing, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 11:Fence, 16:Auto, 19:Gripper, 24:Auto Mission Reset, 27:Retract Mount, 28:Relay On/Off, 30:Lost Rover Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 40:Proximity Avoidance, 41:ArmDisarm, 42:SmartRTL, 46:RC Override Enable, 50:LearnCruise, 51:Manual, 52:Acro, 53:Steering, 54:Hold, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 59:Simple Mode, 62:Compass Learn, 63:Sailboat Tack, 65:GPS Disable, 66:Relay5, 67:Relay6, 74:Sailboat motoring 3pos, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81:Disarm, 90:EKF Pos Source, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 201:Roll, 202:Pitch, 203:Walking Height, 207:MainSail, 208:Flap, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
// @Values{Plane}: 0:Do Nothing, 4:ModeRTL, 9:Camera Trigger, 16:ModeAuto, 24:Auto Mission Reset, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Plane Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 38:ADSB Avoidance En, 41:ArmDisarm, 43:InvertedFlight, 46:RC Override Enable, 51:ModeManual, 55:ModeGuided, 56:ModeLoiter, 58:Clear Waypoints, 62:Compass Learn, 64:Reverse Throttle, 65:GPS Disable, 66:Relay5, 67:Relay6, 72:ModeCircle, 77:ModeTakeoff, 78:RunCam Control, 79:RunCam OSD Control, 81:Disarm, 82:QAssist 3pos, 84:Air Mode, 85:Generator, 86: Non Auto Terrain Follow Disable, 87:Crow Select, 88:Soaring Enable, 89:Landing Flare, 90:EKF Pos Source, 91:Airspeed Ratio Calibration, 92:FBWA, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 208:Flap, 209: Forward Throttle, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
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// @User: Standard
AP_GROUPINFO ( " FUNC3 " , 12 , AP_Button , pin_func [ 2 ] , ( uint16_t ) RC_Channel : : AUX_FUNC : : DO_NOTHING ) ,
// @Param: FUNC4
// @DisplayName: Button Pin 4 RC Channel function
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// @Description: Auxiliary RC Options function executed on pin change
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// @Values{Copter}: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 37:Throw, 38:ADSB Avoidance En, 39:PrecLoiter, 40:Proximity Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 46:RC Override Enable, 47:User Function 1, 48:User Function 2, 49:User Function 3, 52:Acro, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 60:ZigZag, 61:ZigZag SaveWP, 62:Compass Learn, 65:GPS Disable, 66:Relay5, 67:Relay6, 68:Stabilize, 69:PosHold, 70:AltHold, 71:FlowHold, 72:Circle, 73:Drift, 75:SurfaceTrackingUpDown, 76:Standby Mode, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81:Disarm, 83:ZigZag Auto, 84:Air Mode, 85:Generator, 90:EKF Pos Source, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
// @Values{Rover}: 0:Do Nothing, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 11:Fence, 16:Auto, 19:Gripper, 24:Auto Mission Reset, 27:Retract Mount, 28:Relay On/Off, 30:Lost Rover Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 40:Proximity Avoidance, 41:ArmDisarm, 42:SmartRTL, 46:RC Override Enable, 50:LearnCruise, 51:Manual, 52:Acro, 53:Steering, 54:Hold, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 59:Simple Mode, 62:Compass Learn, 63:Sailboat Tack, 65:GPS Disable, 66:Relay5, 67:Relay6, 74:Sailboat motoring 3pos, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81:Disarm, 90:EKF Pos Source, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 201:Roll, 202:Pitch, 203:Walking Height, 207:MainSail, 208:Flap, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
// @Values{Plane}: 0:Do Nothing, 4:ModeRTL, 9:Camera Trigger, 16:ModeAuto, 24:Auto Mission Reset, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Plane Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 38:ADSB Avoidance En, 41:ArmDisarm, 43:InvertedFlight, 46:RC Override Enable, 51:ModeManual, 55:ModeGuided, 56:ModeLoiter, 58:Clear Waypoints, 62:Compass Learn, 64:Reverse Throttle, 65:GPS Disable, 66:Relay5, 67:Relay6, 72:ModeCircle, 77:ModeTakeoff, 78:RunCam Control, 79:RunCam OSD Control, 81:Disarm, 82:QAssist 3pos, 84:Air Mode, 85:Generator, 86: Non Auto Terrain Follow Disable, 87:Crow Select, 88:Soaring Enable, 89:Landing Flare, 90:EKF Pos Source, 91:Airspeed Ratio Calibration, 92:FBWA, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 208:Flap, 209: Forward Throttle, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
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// @User: Standard
AP_GROUPINFO ( " FUNC4 " , 13 , AP_Button , pin_func [ 3 ] , ( uint16_t ) RC_Channel : : AUX_FUNC : : DO_NOTHING ) ,
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AP_GROUPEND
} ;
// constructor
AP_Button : : AP_Button ( void )
{
AP_Param : : setup_object_defaults ( this , var_info ) ;
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if ( _singleton ! = nullptr ) {
AP_HAL : : panic ( " AP_Button must be singleton " ) ;
}
_singleton = this ;
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}
/*
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 ( ) ;
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debounce_mask = last_mask ;
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// register 1kHz timer callback
hal . scheduler - > register_timer_process ( FUNCTOR_BIND_MEMBER ( & AP_Button : : timer_update , void ) ) ;
}
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// act on any changes in state
{
WITH_SEMAPHORE ( last_debounced_change_ms_sem ) ;
if ( last_debounced_change_ms > last_debounce_ms ) {
last_debounce_ms = last_debounced_change_ms ;
}
}
// update the PWM state:
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uint8_t new_pwm_state = pwm_state ;
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for ( uint8_t i = 0 ; i < AP_BUTTON_NUM_PINS ; i + + ) {
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const uint8_t mask = ( 1U < < i ) ;
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if ( ! is_pwm_input ( i ) ) {
// not a PWM input
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new_pwm_state & = ~ mask ;
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continue ;
}
const uint16_t pwm_us = pwm_pin_source [ i ] . get_pwm_us ( ) ;
// these values are the same as used in RC_Channel:
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if ( pwm_state & mask ) {
// currently asserted; check to see if we should de-assert
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if ( pwm_us < RC_Channel : : AUX_SWITCH_PWM_TRIGGER_LOW ) {
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new_pwm_state & = ~ mask ;
}
} else {
// currently not asserted; check to see if we should assert
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if ( pwm_us > RC_Channel : : AUX_SWITCH_PWM_TRIGGER_HIGH ) {
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new_pwm_state | = mask ;
}
}
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}
if ( new_pwm_state ! = pwm_state ) {
pwm_state = new_pwm_state ;
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last_debounce_ms = AP_HAL : : millis64 ( ) ;
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}
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if ( last_debounce_ms ! = 0 & &
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( AP_HAL : : millis ( ) - last_report_ms ) > AP_BUTTON_REPORT_PERIOD_MS & &
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( AP_HAL : : millis64 ( ) - last_debounce_ms ) < report_send_time * 1000ULL ) {
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// send a change report
last_report_ms = AP_HAL : : millis ( ) ;
// send a report to GCS
send_report ( ) ;
}
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if ( ! aux_functions_initialised ) {
run_aux_functions ( true ) ;
aux_functions_initialised = true ;
}
if ( last_debounce_ms ! = 0 & &
last_debounce_ms ! = last_action_time_ms ) {
last_action_time_ms = last_debounce_ms ;
run_aux_functions ( false ) ;
}
}
void AP_Button : : run_aux_functions ( bool force )
{
RC_Channel * rc_channel = rc ( ) . channel ( 1 ) ;
if ( rc_channel = = nullptr ) {
return ;
}
for ( uint8_t i = 0 ; i < AP_BUTTON_NUM_PINS ; i + + ) {
const RC_Channel : : AUX_FUNC func = RC_Channel : : AUX_FUNC ( pin_func [ i ] . get ( ) ) ;
if ( func = = RC_Channel : : AUX_FUNC : : DO_NOTHING ) {
continue ;
}
const uint8_t value_mask = ( 1U < < i ) ;
bool value ;
if ( is_pwm_input ( i ) ) {
value = ( pwm_state & value_mask ) ! = 0 ;
} else {
value = ( debounce_mask & value_mask ) ! = 0 ;
}
if ( is_input_inverted ( i ) ) {
value = ! value ;
}
const bool actioned = ( ( state_actioned_mask & value_mask ) ! = 0 ) ;
if ( ! force & & value = = actioned ) {
// no change on this pin
continue ;
}
// mark action as done:
if ( value ) {
state_actioned_mask | = value_mask ;
} else {
state_actioned_mask & = ~ value_mask ;
}
const RC_Channel : : AuxSwitchPos pos = value ? RC_Channel : : AuxSwitchPos : : HIGH : RC_Channel : : AuxSwitchPos : : LOW ;
// I wonder if we can do better here:
# if !HAL_MINIMIZE_FEATURES
const char * str = rc_channel - > string_for_aux_function ( func ) ;
if ( str ! = nullptr ) {
gcs ( ) . send_text ( MAV_SEVERITY_INFO , " Button: executing (%s) " , str ) ;
}
# endif
rc_channel - > do_aux_function ( func , pos ) ;
}
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}
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// get state of a button
// used by scripting
bool AP_Button : : get_button_state ( uint8_t number )
{
// pins params are 1 indexed not zero
if ( number = = 0 | | number > AP_BUTTON_NUM_PINS ) {
return false ;
}
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if ( is_pwm_input ( number - 1 ) ) {
return ( pwm_state & ( 1U < < ( number - 1 ) ) ) ;
}
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return ( ( ( 1 < < ( number - 1 ) ) & debounce_mask ) ! = 0 ) ;
} ;
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/*
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 ;
}
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if ( is_pwm_input ( i ) ) {
continue ;
}
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mask | = hal . gpio - > read ( pin [ i ] ) < < i ;
}
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return mask ;
}
/*
called at 1 kHz to check for button state change
*/
void AP_Button : : timer_update ( void )
{
if ( ! enable ) {
return ;
}
uint8_t mask = get_mask ( ) ;
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uint64_t now = AP_HAL : : millis64 ( ) ;
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if ( mask ! = last_mask ) {
last_mask = mask ;
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last_change_time_ms = now ;
}
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if ( debounce_mask ! = last_mask & &
( now - last_change_time_ms ) > DEBOUNCE_MS ) {
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// crude de-bouncing, debounces all buttons as one, not individually
debounce_mask = last_mask ;
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WITH_SEMAPHORE ( last_debounced_change_ms_sem ) ;
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last_debounced_change_ms = now ;
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}
}
/*
send a BUTTON_CHANGE report to the GCS
*/
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void AP_Button : : send_report ( void ) const
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{
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const uint8_t mask = last_mask | pwm_state ;
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const mavlink_button_change_t packet {
time_boot_ms : AP_HAL : : millis ( ) ,
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last_change_ms : uint32_t ( last_debounce_ms ) ,
state : mask ,
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} ;
gcs ( ) . send_to_active_channels ( MAVLINK_MSG_ID_BUTTON_CHANGE ,
( const char * ) & packet ) ;
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}
/*
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 + + ) {
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if ( is_pwm_input ( i ) ) {
pwm_pin_source [ i ] . set_pin ( pin [ i ] , " Button " ) ;
continue ;
}
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if ( pin [ i ] = = - 1 ) {
continue ;
}
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hal . gpio - > pinMode ( pin [ i ] , HAL_GPIO_INPUT ) ;
// setup pullup
hal . gpio - > write ( pin [ i ] , 1 ) ;
}
}
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namespace AP {
AP_Button & button ( )
{
return * AP_Button : : get_singleton ( ) ;
}
}
