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AP_HAL: rename RCInput's valid() fn to valid_channels

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This commit is contained in:
Randy Mackay 2013-04-29 15:05:53 +09:00
parent a28c6df611
commit bbbd90c430
12 changed files with 30 additions and 30 deletions
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2
libraries/AP_HAL/RCInput.h
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@ -23,7 +23,7 @@ public:
* Could be less than or greater than 8 depending on your incoming radio * Could be less than or greater than 8 depending on your incoming radio
* or PPM stream * or PPM stream
*/ */
virtual uint8_t valid() = 0; virtual uint8_t valid_channels() = 0;
/* Read a single channel at a time */ /* Read a single channel at a time */
virtual uint16_t read(uint8_t ch) = 0; virtual uint16_t read(uint8_t ch) = 0;

10
libraries/AP_HAL_AVR/RCInput.h
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@ -17,13 +17,13 @@ public:
void init(void* isrregistry); void init(void* isrregistry);
/** /**
* valid(): * valid_channels():
* Return the number of currently valid channels. * Return the number of currently valid channels.
* Typically 0 (no valid radio channels) or 8 (implementation-defined) * Typically 0 (no valid radio channels) or 8 (implementation-defined)
* Could be less than or greater than 8 depending on your incoming radio * Could be less than or greater than 8 depending on your incoming radio
* or PPM stream * or PPM stream
*/ */
uint8_t valid(); uint8_t valid_channels();
/** /**
* read(uint8_t): * read(uint8_t):
@ -58,7 +58,7 @@ private:
static void _timer4_capt_cb(void); static void _timer4_capt_cb(void);
/* private variables to communicate with input capture isr */ /* private variables to communicate with input capture isr */
static volatile uint16_t _pulse_capt[AVR_RC_INPUT_NUM_CHANNELS]; static volatile uint16_t _pulse_capt[AVR_RC_INPUT_NUM_CHANNELS];
static volatile uint8_t _valid; static volatile uint8_t _valid_channels;
/* override state */ /* override state */
uint16_t _override[AVR_RC_INPUT_NUM_CHANNELS]; uint16_t _override[AVR_RC_INPUT_NUM_CHANNELS];
@ -67,7 +67,7 @@ private:
class AP_HAL_AVR::APM2RCInput : public AP_HAL::RCInput { class AP_HAL_AVR::APM2RCInput : public AP_HAL::RCInput {
/* Pass in a AP_HAL_AVR::ISRRegistry* as void*. */ /* Pass in a AP_HAL_AVR::ISRRegistry* as void*. */
void init(void* isrregistry); void init(void* isrregistry);
uint8_t valid(); uint8_t valid_channels();
uint16_t read(uint8_t ch); uint16_t read(uint8_t ch);
uint8_t read(uint16_t* periods, uint8_t len); uint8_t read(uint16_t* periods, uint8_t len);
bool set_overrides(int16_t *overrides, uint8_t len); bool set_overrides(int16_t *overrides, uint8_t len);
@ -78,7 +78,7 @@ private:
static void _timer5_capt_cb(void); static void _timer5_capt_cb(void);
/* private variables to communicate with input capture isr */ /* private variables to communicate with input capture isr */
static volatile uint16_t _pulse_capt[AVR_RC_INPUT_NUM_CHANNELS]; static volatile uint16_t _pulse_capt[AVR_RC_INPUT_NUM_CHANNELS];
static volatile uint8_t _valid; static volatile uint8_t _valid_channels;
/* override state */ /* override state */
uint16_t _override[AVR_RC_INPUT_NUM_CHANNELS]; uint16_t _override[AVR_RC_INPUT_NUM_CHANNELS];

16
libraries/AP_HAL_AVR/RCInput_APM1.cpp
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@ -15,7 +15,7 @@ extern const HAL& hal;
/* private variables to communicate with input capture isr */ /* private variables to communicate with input capture isr */
volatile uint16_t APM1RCInput::_pulse_capt[AVR_RC_INPUT_NUM_CHANNELS] = {0}; volatile uint16_t APM1RCInput::_pulse_capt[AVR_RC_INPUT_NUM_CHANNELS] = {0};
volatile uint8_t APM1RCInput::_valid = 0; volatile uint8_t APM1RCInput::_valid_channels = 0;
/* private callback for input capture ISR */ /* private callback for input capture ISR */
void APM1RCInput::_timer4_capt_cb(void) { void APM1RCInput::_timer4_capt_cb(void) {
@ -34,7 +34,7 @@ void APM1RCInput::_timer4_capt_cb(void) {
if (pulse_width > 8000) { if (pulse_width > 8000) {
// sync pulse detected. Pass through values if at least a minimum number of channels received // sync pulse detected. Pass through values if at least a minimum number of channels received
if( channel_ctr >= AVR_RC_INPUT_MIN_CHANNELS ) { if( channel_ctr >= AVR_RC_INPUT_MIN_CHANNELS ) {
_valid = channel_ctr; _valid_channels = channel_ctr;
} }
channel_ctr = 0; channel_ctr = 0;
} else { } else {
@ -42,7 +42,7 @@ void APM1RCInput::_timer4_capt_cb(void) {
_pulse_capt[channel_ctr] = pulse_width; _pulse_capt[channel_ctr] = pulse_width;
channel_ctr++; channel_ctr++;
if (channel_ctr == AVR_RC_INPUT_NUM_CHANNELS) { if (channel_ctr == AVR_RC_INPUT_NUM_CHANNELS) {
_valid = AVR_RC_INPUT_NUM_CHANNELS; _valid_channels = AVR_RC_INPUT_NUM_CHANNELS;
} }
} }
} }
@ -77,7 +77,7 @@ void APM1RCInput::init(void* _isrregistry) {
TIMSK4 |= _BV(ICIE4); TIMSK4 |= _BV(ICIE4);
} }
uint8_t APM1RCInput::valid() { return _valid; } uint8_t APM1RCInput::valid_channels() { return _valid_channels; }
/* constrain captured pulse to be between min and max pulsewidth. */ /* constrain captured pulse to be between min and max pulsewidth. */
@ -94,7 +94,7 @@ uint16_t APM1RCInput::read(uint8_t ch) {
cli(); cli();
uint16_t capt = _pulse_capt[ch]; uint16_t capt = _pulse_capt[ch];
sei(); sei();
_valid = 0; _valid_channels = 0;
/* scale _pulse_capt from 0.5us units to 1us units. */ /* scale _pulse_capt from 0.5us units to 1us units. */
uint16_t pulse = constrain_pulse(capt >> 1); uint16_t pulse = constrain_pulse(capt >> 1);
/* Check for override */ /* Check for override */
@ -121,8 +121,8 @@ uint8_t APM1RCInput::read(uint16_t* periods, uint8_t len) {
periods[i] = _override[i]; periods[i] = _override[i];
} }
} }
uint8_t v = _valid; uint8_t v = _valid_channels;
_valid = 0; _valid_channels = 0;
return v; return v;
} }
@ -139,7 +139,7 @@ bool APM1RCInput::set_override(uint8_t channel, int16_t override) {
if (channel < AVR_RC_INPUT_NUM_CHANNELS) { if (channel < AVR_RC_INPUT_NUM_CHANNELS) {
_override[channel] = override; _override[channel] = override;
if (override != 0) { if (override != 0) {
_valid = 1; _valid_channels = 1;
return true; return true;
} }
} }

16
libraries/AP_HAL_AVR/RCInput_APM2.cpp
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@ -15,7 +15,7 @@ extern const HAL& hal;
/* private variables to communicate with input capture isr */ /* private variables to communicate with input capture isr */
volatile uint16_t APM2RCInput::_pulse_capt[AVR_RC_INPUT_NUM_CHANNELS] = {0}; volatile uint16_t APM2RCInput::_pulse_capt[AVR_RC_INPUT_NUM_CHANNELS] = {0};
volatile uint8_t APM2RCInput::_valid = 0; volatile uint8_t APM2RCInput::_valid_channels = 0;
/* private callback for input capture ISR */ /* private callback for input capture ISR */
void APM2RCInput::_timer5_capt_cb(void) { void APM2RCInput::_timer5_capt_cb(void) {
@ -34,7 +34,7 @@ void APM2RCInput::_timer5_capt_cb(void) {
if (pulse_width > 8000) { if (pulse_width > 8000) {
// sync pulse detected. Pass through values if at least a minimum number of channels received // sync pulse detected. Pass through values if at least a minimum number of channels received
if( channel_ctr >= AVR_RC_INPUT_MIN_CHANNELS ) { if( channel_ctr >= AVR_RC_INPUT_MIN_CHANNELS ) {
_valid = channel_ctr; _valid_channels = channel_ctr;
} }
channel_ctr = 0; channel_ctr = 0;
} else { } else {
@ -42,7 +42,7 @@ void APM2RCInput::_timer5_capt_cb(void) {
_pulse_capt[channel_ctr] = pulse_width; _pulse_capt[channel_ctr] = pulse_width;
channel_ctr++; channel_ctr++;
if (channel_ctr == AVR_RC_INPUT_NUM_CHANNELS) { if (channel_ctr == AVR_RC_INPUT_NUM_CHANNELS) {
_valid = AVR_RC_INPUT_NUM_CHANNELS; _valid_channels = AVR_RC_INPUT_NUM_CHANNELS;
} }
} }
} }
@ -77,7 +77,7 @@ void APM2RCInput::init(void* _isrregistry) {
TIMSK5 |= _BV(ICIE5); TIMSK5 |= _BV(ICIE5);
} }
uint8_t APM2RCInput::valid() { return _valid; } uint8_t APM2RCInput::valid_channels() { return _valid_channels; }
/* constrain captured pulse to be between min and max pulsewidth. */ /* constrain captured pulse to be between min and max pulsewidth. */
static inline uint16_t constrain_pulse(uint16_t p) { static inline uint16_t constrain_pulse(uint16_t p) {
@ -94,7 +94,7 @@ uint16_t APM2RCInput::read(uint8_t ch) {
cli(); cli();
uint16_t capt = _pulse_capt[ch]; uint16_t capt = _pulse_capt[ch];
sei(); sei();
_valid = 0; _valid_channels = 0;
/* scale _pulse_capt from 0.5us units to 1us units. */ /* scale _pulse_capt from 0.5us units to 1us units. */
uint16_t pulse = constrain_pulse(capt >> 1); uint16_t pulse = constrain_pulse(capt >> 1);
/* Check for override */ /* Check for override */
@ -121,8 +121,8 @@ uint8_t APM2RCInput::read(uint16_t* periods, uint8_t len) {
periods[i] = _override[i]; periods[i] = _override[i];
} }
} }
uint8_t v = _valid; uint8_t v = _valid_channels;
_valid = 0; _valid_channels = 0;
return v; return v;
} }
@ -139,7 +139,7 @@ bool APM2RCInput::set_override(uint8_t channel, int16_t override) {
if (channel < AVR_RC_INPUT_NUM_CHANNELS) { if (channel < AVR_RC_INPUT_NUM_CHANNELS) {
_override[channel] = override; _override[channel] = override;
if (override != 0) { if (override != 0) {
_valid = 1; _valid_channels = 1;
return true; return true;
} }
} }

2
libraries/AP_HAL_AVR_SITL/RCInput.cpp
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@ -12,7 +12,7 @@ void SITLRCInput::init(void* machtnichts)
clear_overrides(); clear_overrides();
} }
uint8_t SITLRCInput::valid() { uint8_t SITLRCInput::valid_channels() {
return _sitlState->pwm_valid; return _sitlState->pwm_valid;
} }

2
libraries/AP_HAL_AVR_SITL/RCInput.h
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@ -12,7 +12,7 @@ public:
_sitlState = sitlState; _sitlState = sitlState;
} }
void init(void* machtnichts); void init(void* machtnichts);
uint8_t valid(); uint8_t valid_channels();
uint16_t read(uint8_t ch); uint16_t read(uint8_t ch);
uint8_t read(uint16_t* periods, uint8_t len); uint8_t read(uint16_t* periods, uint8_t len);

2
libraries/AP_HAL_Empty/RCInput.cpp
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@ -8,7 +8,7 @@ EmptyRCInput::EmptyRCInput()
void EmptyRCInput::init(void* machtnichts) void EmptyRCInput::init(void* machtnichts)
{} {}
uint8_t EmptyRCInput::valid() { uint8_t EmptyRCInput::valid_channels() {
return 0; return 0;
} }

2
libraries/AP_HAL_Empty/RCInput.h
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@ -8,7 +8,7 @@ class Empty::EmptyRCInput : public AP_HAL::RCInput {
public: public:
EmptyRCInput(); EmptyRCInput();
void init(void* machtnichts); void init(void* machtnichts);
uint8_t valid(); uint8_t valid_channels();
uint16_t read(uint8_t ch); uint16_t read(uint8_t ch);
uint8_t read(uint16_t* periods, uint8_t len); uint8_t read(uint16_t* periods, uint8_t len);

2
libraries/AP_HAL_PX4/RCInput.cpp
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@ -19,7 +19,7 @@ void PX4RCInput::init(void* unused)
clear_overrides(); clear_overrides();
} }
uint8_t PX4RCInput::valid() uint8_t PX4RCInput::valid_channels()
{ {
return _rcin.timestamp != _last_read || _override_valid; return _rcin.timestamp != _last_read || _override_valid;
} }

2
libraries/AP_HAL_PX4/RCInput.h
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@ -9,7 +9,7 @@
class PX4::PX4RCInput : public AP_HAL::RCInput { class PX4::PX4RCInput : public AP_HAL::RCInput {
public: public:
void init(void* machtnichts); void init(void* machtnichts);
uint8_t valid(); uint8_t valid_channels();
uint16_t read(uint8_t ch); uint16_t read(uint8_t ch);
uint8_t read(uint16_t* periods, uint8_t len); uint8_t read(uint16_t* periods, uint8_t len);

2
libraries/AP_HAL_SMACCM/RCInput.cpp
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@ -29,7 +29,7 @@ void SMACCMRCInput::init(void *unused)
clear_overrides(); clear_overrides();
} }
uint8_t SMACCMRCInput::valid() uint8_t SMACCMRCInput::valid_channels()
{ {
// If any of the overrides are positive, we have valid data. // If any of the overrides are positive, we have valid data.
for (int i = 0; i < SMACCM_RCINPUT_CHANNELS; ++i) for (int i = 0; i < SMACCM_RCINPUT_CHANNELS; ++i)

2
libraries/AP_HAL_SMACCM/RCInput.h
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@ -10,7 +10,7 @@ class SMACCM::SMACCMRCInput : public AP_HAL::RCInput {
public: public:
SMACCMRCInput(); SMACCMRCInput();
void init(void *unused); void init(void *unused);
uint8_t valid(); uint8_t valid_channels();
uint16_t read(uint8_t ch); uint16_t read(uint8_t ch);
uint8_t read(uint16_t* periods, uint8_t len); uint8_t read(uint16_t* periods, uint8_t len);