/* 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/>. */ /* this is a driver for multiple RCInput methods on one board */ #include <AP_HAL/AP_HAL.h> #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE #include "RCInput_Multi.h" extern const AP_HAL::HAL& hal; using namespace Linux; // constructor RCInput_Multi::RCInput_Multi(uint8_t _num_inputs, ...) : num_inputs(_num_inputs) { va_list ap; inputs = new RCInput*[num_inputs]; if (inputs == nullptr) { AP_HAL::panic("failed to allocated RCInput array"); } va_start(ap, _num_inputs); for (uint8_t i=0; i<num_inputs; i++) { inputs[i] = va_arg(ap, RCInput *); if (inputs[i] == nullptr) { AP_HAL::panic("Bad RCInput object"); } } va_end(ap); } void RCInput_Multi::init() { for (uint8_t i=0; i<num_inputs; i++) { inputs[i]->init(); } } void RCInput_Multi::_timer_tick(void) { for (uint8_t i=0; i<num_inputs; i++) { inputs[i]->_timer_tick(); if (inputs[i]->new_input()) { inputs[i]->read(_pwm_values, inputs[i]->num_channels()); _num_channels = inputs[i]->num_channels(); rc_input_count++; } } } #endif // CONFIG_HAL_BOARD_SUBTYPE