mirror of https://github.com/ArduPilot/ardupilot
68 lines
1.8 KiB
C++
68 lines
1.8 KiB
C++
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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this is a driver for multiple RCInput methods on one board
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
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#include "RCInput_Multi.h"
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extern const AP_HAL::HAL& hal;
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using namespace Linux;
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// constructor
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RCInput_Multi::RCInput_Multi(uint8_t _num_inputs, ...) :
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num_inputs(_num_inputs)
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{
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va_list ap;
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inputs = new RCInput*[num_inputs];
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if (inputs == nullptr) {
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AP_HAL::panic("failed to allocated RCInput array");
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}
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va_start(ap, _num_inputs);
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for (uint8_t i=0; i<num_inputs; i++) {
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inputs[i] = va_arg(ap, RCInput *);
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if (inputs[i] == nullptr) {
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AP_HAL::panic("Bad RCInput object");
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}
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}
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va_end(ap);
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}
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void RCInput_Multi::init()
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{
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for (uint8_t i=0; i<num_inputs; i++) {
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inputs[i]->init();
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}
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}
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void RCInput_Multi::_timer_tick(void)
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{
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for (uint8_t i=0; i<num_inputs; i++) {
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inputs[i]->_timer_tick();
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if (inputs[i]->new_input()) {
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inputs[i]->read(_pwm_values, inputs[i]->num_channels());
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_num_channels = inputs[i]->num_channels();
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new_rc_input = true;
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}
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}
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}
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#endif // CONFIG_HAL_BOARD_SUBTYPE
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