/* 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 . */ #pragma once #include #include #include class AP_RSSI { public: enum RssiType { RSSI_DISABLED = 0, RSSI_ANALOG_PIN = 1, RSSI_RC_CHANNEL_VALUE = 2, RSSI_RECEIVER = 3, RSSI_PWM_PIN = 4 }; AP_RSSI(); /* Do not allow copies */ AP_RSSI(const AP_RSSI &other) = delete; AP_RSSI &operator=(const AP_RSSI&) = delete; // destructor ~AP_RSSI(void); static AP_RSSI *get_singleton(); // Initialize the rssi object and prepare it for use void init(); // return true if rssi reading is enabled bool enabled() const { return rssi_type != RSSI_DISABLED; } // Read the receiver RSSI value as a float 0.0f - 1.0f. // 0.0 represents weakest signal, 1.0 represents maximum signal. float read_receiver_rssi(); // Read the receiver RSSI value as an 8-bit integer // 0 represents weakest signal, 255 represents maximum signal. uint8_t read_receiver_rssi_uint8(); // parameter block static const struct AP_Param::GroupInfo var_info[]; private: static AP_RSSI *_singleton; // RSSI parameters AP_Int8 rssi_type; // Type of RSSI being used AP_Int8 rssi_analog_pin; // Analog pin RSSI value found on AP_Float rssi_analog_pin_range_low; // Voltage value for weakest rssi signal AP_Float rssi_analog_pin_range_high; // Voltage value for strongest rssi signal AP_Int8 rssi_channel; // allows rssi to be read from given channel as PWM value AP_Int16 rssi_channel_low_pwm_value; // PWM value for weakest rssi signal AP_Int16 rssi_channel_high_pwm_value; // PWM value for strongest rssi signal // Analog Inputs // a pin for reading the receiver RSSI voltage. AP_HAL::AnalogSource *rssi_analog_source; // PWM input struct PWMState { int8_t last_rssi_analog_pin; // last pin used for reading pwm (used to recognise change in pin assignment) uint32_t last_reading_ms; // system time of last read (used for health reporting) float rssi_value; // last calculated RSSI value // the following two members are updated by the interrupt handler uint32_t irq_value_us; // last calculated pwm value (irq copy) uint32_t pulse_start_us; // system time of start of pulse } pwm_state; // read the RSSI value from an analog pin - returns float in range 0.0 to 1.0 float read_pin_rssi(); // check if pin has changed and configure interrupt handlers if required void check_pwm_pin_rssi(); // read the RSSI value from a PWM value on a RC channel float read_channel_rssi(); // read the PWM value from a pin float read_pwm_pin_rssi(); // Scale and constrain a float rssi value to 0.0 to 1.0 range float scale_and_constrain_float_rssi(float current_rssi_value, float low_rssi_range, float high_rssi_range); // PWM input handling void irq_handler(uint8_t pin, bool pin_state, uint32_t timestamp); }; namespace AP { AP_RSSI *rssi(); };