mirror of https://github.com/ArduPilot/ardupilot
59 lines
1006 B
C++
59 lines
1006 B
C++
#include "RCInput.h"
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#include <AP_Math/AP_Math.h>
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using namespace QURT;
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void RCInput::init()
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{
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AP::RC().init();
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}
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const char *RCInput::protocol() const
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{
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return AP::RC().protocol_name();
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}
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bool RCInput::new_input()
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{
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bool ret = updated;
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updated = false;
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return ret;
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}
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uint8_t RCInput::num_channels()
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{
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return num_chan;
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}
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uint16_t RCInput::read(uint8_t channel)
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{
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if (channel >= MIN(RC_INPUT_MAX_CHANNELS, num_chan)) {
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return 0;
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}
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return values[channel];
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}
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uint8_t RCInput::read(uint16_t* periods, uint8_t len)
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{
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WITH_SEMAPHORE(mutex);
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len = MIN(len, num_chan);
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memcpy(periods, values, len*sizeof(periods[0]));
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return len;
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}
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void RCInput::_timer_tick(void)
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{
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auto &rcprot = AP::RC();
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WITH_SEMAPHORE(mutex);
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rcprot.update();
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if (rcprot.new_input()) {
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num_chan = rcprot.num_channels();
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num_chan = MIN(num_chan, RC_INPUT_MAX_CHANNELS);
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rcprot.read(values, num_chan);
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updated = true;
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}
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}
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