mirror of https://github.com/ArduPilot/ardupilot
408 lines
27 KiB
C++
408 lines
27 KiB
C++
/*
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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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#include "AP_Button.h"
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#if HAL_BUTTON_ENABLED
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include <GCS_MAVLink/GCS.h>
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// very crude debounce method
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#define DEBOUNCE_MS 50
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extern const AP_HAL::HAL& hal;
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AP_Button *AP_Button::_singleton;
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const AP_Param::GroupInfo AP_Button::var_info[] = {
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// @Param: ENABLE
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// @DisplayName: Enable button reporting
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// @Description: This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible
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// @Values: 0:Disabled, 1:Enabled
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// @User: Advanced
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AP_GROUPINFO_FLAGS("ENABLE", 0, AP_Button, enable, 0, AP_PARAM_FLAG_ENABLE),
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// @Param: PIN1
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// @DisplayName: First button Pin
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// @Description: Digital pin number for first button input.
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// @User: Standard
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// @Values: -1:Disabled,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6
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AP_GROUPINFO("PIN1", 1, AP_Button, pin[0], -1),
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// @Param: PIN2
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// @DisplayName: Second button Pin
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// @Description: Digital pin number for second button input.
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// @User: Standard
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// @Values: -1:Disabled,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6
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AP_GROUPINFO("PIN2", 2, AP_Button, pin[1], -1),
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// @Param: PIN3
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// @DisplayName: Third button Pin
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// @Description: Digital pin number for third button input.
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// @User: Standard
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// @Values: -1:Disabled,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6
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AP_GROUPINFO("PIN3", 3, AP_Button, pin[2], -1),
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// @Param: PIN4
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// @DisplayName: Fourth button Pin
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// @Description: Digital pin number for fourth button input.
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// @User: Standard
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// @Values: -1:Disabled,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6
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AP_GROUPINFO("PIN4", 4, AP_Button, pin[3], -1),
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// @Param: REPORT_SEND
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// @DisplayName: Report send time
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// @Description: The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only.
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// @User: Standard
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// @Range: 0 3600
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AP_GROUPINFO("REPORT_SEND", 5, AP_Button, report_send_time, 10),
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// @Param: OPTIONS1
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// @DisplayName: Button Pin 1 Options
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// @Description: Options for Pin 1. PWM input detects PWM above or below 1800/1200us instead of logic level. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.
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// @User: Standard
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// @Bitmask: 0:PWM Input,1:InvertInput
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AP_GROUPINFO("OPTIONS1", 6, AP_Button, options[0], 0),
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// @Param: OPTIONS2
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// @DisplayName: Button Pin 2 Options
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// @Description: Options for Pin 2. PWM input detects PWM above or below 1800/1200us instead of logic level. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.
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// @User: Standard
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// @Bitmask: 0:PWM Input,1:InvertInput
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AP_GROUPINFO("OPTIONS2", 7, AP_Button, options[1], 0),
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// @Param: OPTIONS3
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// @DisplayName: Button Pin 3 Options
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// @Description: Options for Pin 3. PWM input detects PWM above or below 1800/1200us instead of logic level. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.
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// @Bitmask: 0:PWM Input,1:InvertInput
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AP_GROUPINFO("OPTIONS3", 8, AP_Button, options[2], 0),
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// @Param: OPTIONS4
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// @DisplayName: Button Pin 4 Options
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// @Description: Options for Pin 4. PWM input detects PWM above or below 1800/1200us instead of logic level. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.
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// @User: Standard
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// @Bitmask: 0:PWM Input,1:InvertInput
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AP_GROUPINFO("OPTIONS4", 9, AP_Button, options[3], 0),
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// @Param: FUNC1
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// @DisplayName: Button Pin 1 RC Channel function
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// @Description: Auxiliary RC Options function executed on pin change
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// @Values{Copter}: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 37:Throw, 38:ADSB Avoidance En, 39:PrecLoiter, 40:Proximity Avoidance, 42:SmartRTL, 43:InvertedFlight, 46:RC Override Enable, 47:User Function 1, 48:User Function 2, 49:User Function 3, 52:Acro, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 60:ZigZag, 61:ZigZag SaveWP, 62:Compass Learn, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 68:Stabilize, 69:PosHold, 70:AltHold, 71:FlowHold, 72:Circle, 73:Drift, 75:SurfaceTrackingUpDown, 76:Standby Mode, 78:RunCam Control, 79:RunCam OSD Control, 80:VisOdom Align, 81:Disarm, 83:ZigZag Auto, 84:Air Mode, 85:Generator, 90:EKF Pos Source, 94:VTX Power, 99:AUTO RTL, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 151:Turtle, 152:simple heading reset, 153:ArmDisarm, 154:ArmDisarm with AirMode, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
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// @Values{Rover}: 0:Do Nothing, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 11:Fence, 16:Auto, 19:Gripper, 24:Auto Mission Reset, 27:Retract Mount, 28:Relay On/Off, 30:Lost Rover Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 40:Proximity Avoidance, 42:SmartRTL, 46:RC Override Enable, 50:LearnCruise, 51:Manual, 52:Acro, 53:Steering, 54:Hold, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 59:Simple Mode, 62:Compass Learn, 63:Sailboat Tack, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 74:Sailboat motoring 3pos, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81:Disarm, 90:EKF Pos Source, 94:VTX Power, 97:Windvane home heading direction offset, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 106:Disable Airspeed Use, 153:ArmDisarm, 201:Roll, 202:Pitch, 203:Walking Height, 207:MainSail, 208:Flap, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
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// @Values{Plane}: 0:Do Nothing, 4:ModeRTL, 9:Camera Trigger, 11:Fence, 16:ModeAuto, 24:Auto Mission Reset, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Plane Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 38:ADSB Avoidance En, 43:InvertedFlight, 46:RC Override Enable, 51:ModeManual, 52: ModeACRO, 55:ModeGuided, 56:ModeLoiter, 58:Clear Waypoints, 62:Compass Learn, 64:Reverse Throttle, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 72:ModeCircle, 77:ModeTakeoff, 78:RunCam Control, 79:RunCam OSD Control, 81:Disarm, 82:QAssist 3pos, 84:Air Mode, 85:Generator, 86: Non Auto Terrain Follow Disable, 87:Crow Select, 88:Soaring Enable, 89:Landing Flare, 90:EKF Pos Source, 91:Airspeed Ratio Calibration, 92:FBWA, 94:VTX Power, 95:FBWA taildragger takeoff mode, 96:trigger re-reading of mode switch, 98: ModeTraining, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 106:Disable Airspeed Use, 150: CRUISE, 153:ArmDisarm, 154:ArmDisarm with Quadplane AirMode, 208:Flap, 209: Forward Throttle, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
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// @User: Standard
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AP_GROUPINFO("FUNC1", 10, AP_Button, pin_func[0], (uint16_t)RC_Channel::AUX_FUNC::DO_NOTHING),
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// @Param: FUNC2
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// @DisplayName: Button Pin 2 RC Channel function
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// @Description: Auxiliary RC Options function executed on pin change
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// @Values{Copter}: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 37:Throw, 38:ADSB Avoidance En, 39:PrecLoiter, 40:Proximity Avoidance, 42:SmartRTL, 43:InvertedFlight, 46:RC Override Enable, 47:User Function 1, 48:User Function 2, 49:User Function 3, 52:Acro, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 60:ZigZag, 61:ZigZag SaveWP, 62:Compass Learn, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 68:Stabilize, 69:PosHold, 70:AltHold, 71:FlowHold, 72:Circle, 73:Drift, 75:SurfaceTrackingUpDown, 76:Standby Mode, 78:RunCam Control, 79:RunCam OSD Control, 80:VisOdom Align, 81:Disarm, 83:ZigZag Auto, 84:Air Mode, 85:Generator, 90:EKF Pos Source, 94:VTX Power, 99:AUTO RTL, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 151:Turtle, 152:simple heading reset, 153:ArmDisarm, 154:ArmDisarm with AirMode, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
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// @Values{Rover}: 0:Do Nothing, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 11:Fence, 16:Auto, 19:Gripper, 24:Auto Mission Reset, 27:Retract Mount, 28:Relay On/Off, 30:Lost Rover Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 40:Proximity Avoidance, 42:SmartRTL, 46:RC Override Enable, 50:LearnCruise, 51:Manual, 52:Acro, 53:Steering, 54:Hold, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 59:Simple Mode, 62:Compass Learn, 63:Sailboat Tack, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 74:Sailboat motoring 3pos, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81:Disarm, 90:EKF Pos Source, 94:VTX Power, 97:Windvane home heading direction offset, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 106:Disable Airspeed Use, 153:ArmDisarm, 201:Roll, 202:Pitch, 203:Walking Height, 207:MainSail, 208:Flap, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
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// @Values{Plane}: 0:Do Nothing, 4:ModeRTL, 9:Camera Trigger, 11:Fence, 16:ModeAuto, 24:Auto Mission Reset, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Plane Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 38:ADSB Avoidance En, 43:InvertedFlight, 46:RC Override Enable, 51:ModeManual, 52: ModeACRO, 55:ModeGuided, 56:ModeLoiter, 58:Clear Waypoints, 62:Compass Learn, 64:Reverse Throttle, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 72:ModeCircle, 77:ModeTakeoff, 78:RunCam Control, 79:RunCam OSD Control, 81:Disarm, 82:QAssist 3pos, 84:Air Mode, 85:Generator, 86: Non Auto Terrain Follow Disable, 87:Crow Select, 88:Soaring Enable, 89:Landing Flare, 90:EKF Pos Source, 91:Airspeed Ratio Calibration, 92:FBWA, 94:VTX Power, 95:FBWA taildragger takeoff mode, 96:trigger re-reading of mode switch, 98: ModeTraining, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 106:Disable Airspeed Use, 150: CRUISE, 153:ArmDisarm, 154:ArmDisarm with Quadplane AirMode, 208:Flap, 209: Forward Throttle, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
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// @User: Standard
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AP_GROUPINFO("FUNC2", 11, AP_Button, pin_func[1], (uint16_t)RC_Channel::AUX_FUNC::DO_NOTHING),
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// @Param: FUNC3
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// @DisplayName: Button Pin 3 RC Channel function
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// @Description: Auxiliary RC Options function executed on pin change
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// @Values{Copter}: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 37:Throw, 38:ADSB Avoidance En, 39:PrecLoiter, 40:Proximity Avoidance, 42:SmartRTL, 43:InvertedFlight, 46:RC Override Enable, 47:User Function 1, 48:User Function 2, 49:User Function 3, 52:Acro, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 60:ZigZag, 61:ZigZag SaveWP, 62:Compass Learn, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 68:Stabilize, 69:PosHold, 70:AltHold, 71:FlowHold, 72:Circle, 73:Drift, 75:SurfaceTrackingUpDown, 76:Standby Mode, 78:RunCam Control, 79:RunCam OSD Control, 80:VisOdom Align, 81:Disarm, 83:ZigZag Auto, 84:Air Mode, 85:Generator, 90:EKF Pos Source, 94:VTX Power, 99:AUTO RTL, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 151:Turtle, 152:simple heading reset, 153:ArmDisarm, 154:ArmDisarm with AirMode, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
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// @Values{Rover}: 0:Do Nothing, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 11:Fence, 16:Auto, 19:Gripper, 24:Auto Mission Reset, 27:Retract Mount, 28:Relay On/Off, 30:Lost Rover Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 40:Proximity Avoidance, 42:SmartRTL, 46:RC Override Enable, 50:LearnCruise, 51:Manual, 52:Acro, 53:Steering, 54:Hold, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 59:Simple Mode, 62:Compass Learn, 63:Sailboat Tack, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 74:Sailboat motoring 3pos, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81:Disarm, 90:EKF Pos Source, 94:VTX Power, 97:Windvane home heading direction offset, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 106:Disable Airspeed Use, 153:ArmDisarm, 201:Roll, 202:Pitch, 203:Walking Height, 207:MainSail, 208:Flap, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
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// @Values{Plane}: 0:Do Nothing, 4:ModeRTL, 9:Camera Trigger, 11:Fence, 16:ModeAuto, 24:Auto Mission Reset, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Plane Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 38:ADSB Avoidance En, 43:InvertedFlight, 46:RC Override Enable, 51:ModeManual, 52: ModeACRO, 55:ModeGuided, 56:ModeLoiter, 58:Clear Waypoints, 62:Compass Learn, 64:Reverse Throttle, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 72:ModeCircle, 77:ModeTakeoff, 78:RunCam Control, 79:RunCam OSD Control, 81:Disarm, 82:QAssist 3pos, 84:Air Mode, 85:Generator, 86: Non Auto Terrain Follow Disable, 87:Crow Select, 88:Soaring Enable, 89:Landing Flare, 90:EKF Pos Source, 91:Airspeed Ratio Calibration, 92:FBWA, 94:VTX Power, 95:FBWA taildragger takeoff mode, 96:trigger re-reading of mode switch, 98: ModeTraining, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 106:Disable Airspeed Use, 150: CRUISE, 153:ArmDisarm, 154:ArmDisarm with Quadplane AirMode, 208:Flap, 209: Forward Throttle, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
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// @User: Standard
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AP_GROUPINFO("FUNC3", 12, AP_Button, pin_func[2], (uint16_t)RC_Channel::AUX_FUNC::DO_NOTHING),
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// @Param: FUNC4
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// @DisplayName: Button Pin 4 RC Channel function
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// @Description: Auxiliary RC Options function executed on pin change
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// @Values{Copter}: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 37:Throw, 38:ADSB Avoidance En, 39:PrecLoiter, 40:Proximity Avoidance, 42:SmartRTL, 43:InvertedFlight, 46:RC Override Enable, 47:User Function 1, 48:User Function 2, 49:User Function 3, 52:Acro, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 60:ZigZag, 61:ZigZag SaveWP, 62:Compass Learn, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 68:Stabilize, 69:PosHold, 70:AltHold, 71:FlowHold, 72:Circle, 73:Drift, 75:SurfaceTrackingUpDown, 76:Standby Mode, 78:RunCam Control, 79:RunCam OSD Control, 80:VisOdom Align, 81:Disarm, 83:ZigZag Auto, 84:Air Mode, 85:Generator, 90:EKF Pos Source, 94:VTX Power, 99:AUTO RTL, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 151:Turtle, 152:simple heading reset, 153:ArmDisarm, 154:ArmDisarm with AirMode, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
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// @Values{Rover}: 0:Do Nothing, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 11:Fence, 16:Auto, 19:Gripper, 24:Auto Mission Reset, 27:Retract Mount, 28:Relay On/Off, 30:Lost Rover Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 40:Proximity Avoidance, 42:SmartRTL, 46:RC Override Enable, 50:LearnCruise, 51:Manual, 52:Acro, 53:Steering, 54:Hold, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 59:Simple Mode, 62:Compass Learn, 63:Sailboat Tack, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 74:Sailboat motoring 3pos, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81:Disarm, 90:EKF Pos Source, 94:VTX Power, 97:Windvane home heading direction offset, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 106:Disable Airspeed Use, 153:ArmDisarm, 201:Roll, 202:Pitch, 203:Walking Height, 207:MainSail, 208:Flap, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
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// @Values{Plane}: 0:Do Nothing, 4:ModeRTL, 9:Camera Trigger, 11:Fence, 16:ModeAuto, 24:Auto Mission Reset, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Plane Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 38:ADSB Avoidance En, 43:InvertedFlight, 46:RC Override Enable, 51:ModeManual, 52: ModeACRO, 55:ModeGuided, 56:ModeLoiter, 58:Clear Waypoints, 62:Compass Learn, 64:Reverse Throttle, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 72:ModeCircle, 77:ModeTakeoff, 78:RunCam Control, 79:RunCam OSD Control, 81:Disarm, 82:QAssist 3pos, 84:Air Mode, 85:Generator, 86: Non Auto Terrain Follow Disable, 87:Crow Select, 88:Soaring Enable, 89:Landing Flare, 90:EKF Pos Source, 91:Airspeed Ratio Calibration, 92:FBWA, 94:VTX Power, 95:FBWA taildragger takeoff mode, 96:trigger re-reading of mode switch, 98: ModeTraining, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 106:Disable Airspeed Use, 150: CRUISE, 153:ArmDisarm, 154:ArmDisarm with Quadplane AirMode, 208:Flap, 209: Forward Throttle, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
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// @User: Standard
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AP_GROUPINFO("FUNC4", 13, AP_Button, pin_func[3], (uint16_t)RC_Channel::AUX_FUNC::DO_NOTHING),
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|
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AP_GROUPEND
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};
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|
|
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// constructor
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|
AP_Button::AP_Button(void)
|
|
{
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|
AP_Param::setup_object_defaults(this, var_info);
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|
|
|
if (_singleton != nullptr) {
|
|
AP_HAL::panic("AP_Button must be singleton");
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|
}
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|
_singleton = this;
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|
}
|
|
|
|
/*
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|
update and report, called from main loop
|
|
*/
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|
void AP_Button::update(void)
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|
{
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|
if (!enable) {
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|
return;
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|
}
|
|
|
|
// call setup pins at update rate (5Hz) to allow for runtime parameter change of pins
|
|
setup_pins();
|
|
|
|
if (!initialised) {
|
|
initialised = true;
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|
|
|
// get initial mask
|
|
last_mask = get_mask();
|
|
debounce_mask = last_mask;
|
|
|
|
// register 1kHz timer callback
|
|
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Button::timer_update, void));
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|
}
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|
|
|
// act on any changes in state
|
|
{
|
|
WITH_SEMAPHORE(last_debounced_change_ms_sem);
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|
if (last_debounced_change_ms > last_debounce_ms) {
|
|
last_debounce_ms = last_debounced_change_ms;
|
|
}
|
|
}
|
|
|
|
// update the PWM state:
|
|
uint8_t new_pwm_state = pwm_state;
|
|
for (uint8_t i=0; i<AP_BUTTON_NUM_PINS; i++) {
|
|
const uint8_t mask = (1U << i);
|
|
if (!is_pwm_input(i)) {
|
|
// not a PWM input
|
|
new_pwm_state &= ~mask;
|
|
continue;
|
|
}
|
|
const uint16_t pwm_us = pwm_pin_source[i].get_pwm_us();
|
|
// these values are the same as used in RC_Channel:
|
|
if (pwm_state & mask) {
|
|
// currently asserted; check to see if we should de-assert
|
|
if (pwm_us < RC_Channel::AUX_SWITCH_PWM_TRIGGER_LOW) {
|
|
new_pwm_state &= ~mask;
|
|
}
|
|
} else {
|
|
// currently not asserted; check to see if we should assert
|
|
if (pwm_us > RC_Channel::AUX_SWITCH_PWM_TRIGGER_HIGH) {
|
|
new_pwm_state |= mask;
|
|
}
|
|
}
|
|
}
|
|
const uint64_t now_ms = AP_HAL::millis64();
|
|
if (new_pwm_state != pwm_state) {
|
|
if (new_pwm_state != tentative_pwm_state) {
|
|
tentative_pwm_state = new_pwm_state;
|
|
pwm_start_debounce_ms = now_ms;
|
|
} else if (now_ms - pwm_start_debounce_ms > DEBOUNCE_MS) {
|
|
pwm_state = new_pwm_state;
|
|
last_debounce_ms = now_ms;
|
|
}
|
|
} else {
|
|
tentative_pwm_state = pwm_state;
|
|
pwm_start_debounce_ms = now_ms;
|
|
}
|
|
|
|
if (last_debounce_ms != 0 &&
|
|
(AP_HAL::millis() - last_report_ms) > AP_BUTTON_REPORT_PERIOD_MS &&
|
|
(AP_HAL::millis64() - last_debounce_ms) < report_send_time*1000ULL) {
|
|
// send a change report
|
|
last_report_ms = AP_HAL::millis();
|
|
|
|
// send a report to GCS
|
|
send_report();
|
|
}
|
|
|
|
if (!aux_functions_initialised) {
|
|
run_aux_functions(true);
|
|
aux_functions_initialised = true;
|
|
}
|
|
|
|
if (last_debounce_ms != 0 &&
|
|
last_debounce_ms != last_action_time_ms) {
|
|
last_action_time_ms = last_debounce_ms;
|
|
run_aux_functions(false);
|
|
}
|
|
}
|
|
|
|
void AP_Button::run_aux_functions(bool force)
|
|
{
|
|
RC_Channel *rc_channel = rc().channel(1);
|
|
if (rc_channel == nullptr) {
|
|
return;
|
|
}
|
|
|
|
for (uint8_t i=0; i<AP_BUTTON_NUM_PINS; i++) {
|
|
const RC_Channel::AUX_FUNC func = RC_Channel::AUX_FUNC(pin_func[i].get());
|
|
if (func == RC_Channel::AUX_FUNC::DO_NOTHING) {
|
|
continue;
|
|
}
|
|
const uint8_t value_mask = (1U<<i);
|
|
bool value;
|
|
if (is_pwm_input(i)) {
|
|
value = (pwm_state & value_mask) != 0;
|
|
} else {
|
|
value = (debounce_mask & value_mask) != 0;
|
|
}
|
|
if (is_input_inverted(i)) {
|
|
value = !value;
|
|
}
|
|
const bool actioned = ((state_actioned_mask & value_mask) != 0);
|
|
if (!force && value == actioned) {
|
|
// no change on this pin
|
|
continue;
|
|
}
|
|
// mark action as done:
|
|
if (value) {
|
|
state_actioned_mask |= value_mask;
|
|
} else {
|
|
state_actioned_mask &= ~value_mask;
|
|
}
|
|
|
|
const RC_Channel::AuxSwitchPos pos = value ? RC_Channel::AuxSwitchPos::HIGH : RC_Channel::AuxSwitchPos::LOW;
|
|
// I wonder if we can do better here:
|
|
#if !HAL_MINIMIZE_FEATURES
|
|
const char *str = rc_channel->string_for_aux_function(func);
|
|
if (str != nullptr) {
|
|
gcs().send_text(MAV_SEVERITY_INFO, "Button: executing (%s)", str);
|
|
}
|
|
#endif
|
|
rc_channel->run_aux_function(func, pos, RC_Channel::AuxFuncTriggerSource::BUTTON);
|
|
}
|
|
}
|
|
|
|
// get state of a button
|
|
// used by scripting
|
|
bool AP_Button::get_button_state(uint8_t number)
|
|
{
|
|
// pins params are 1 indexed not zero
|
|
if (number == 0 || number > AP_BUTTON_NUM_PINS) {
|
|
return false;
|
|
}
|
|
|
|
if (is_pwm_input(number-1)) {
|
|
return (pwm_state & (1U<<(number-1)));
|
|
}
|
|
|
|
return ( ((1 << (number - 1)) & debounce_mask) != 0);
|
|
};
|
|
|
|
/*
|
|
get current mask
|
|
*/
|
|
uint8_t AP_Button::get_mask(void)
|
|
{
|
|
uint8_t mask = 0;
|
|
for (uint8_t i=0; i<AP_BUTTON_NUM_PINS; i++) {
|
|
if (pin[i] == -1) {
|
|
continue;
|
|
}
|
|
if (is_pwm_input(i)) {
|
|
continue;
|
|
}
|
|
mask |= hal.gpio->read(pin[i]) << i;
|
|
}
|
|
|
|
return mask;
|
|
}
|
|
|
|
/*
|
|
called at 1kHz to check for button state change
|
|
*/
|
|
void AP_Button::timer_update(void)
|
|
{
|
|
if (!enable) {
|
|
return;
|
|
}
|
|
uint8_t mask = get_mask();
|
|
uint64_t now = AP_HAL::millis64();
|
|
if (mask != last_mask) {
|
|
last_mask = mask;
|
|
last_change_time_ms = now;
|
|
}
|
|
if (debounce_mask != last_mask &&
|
|
(now - last_change_time_ms) > DEBOUNCE_MS) {
|
|
// crude de-bouncing, debounces all buttons as one, not individually
|
|
debounce_mask = last_mask;
|
|
WITH_SEMAPHORE(last_debounced_change_ms_sem);
|
|
last_debounced_change_ms = now;
|
|
}
|
|
}
|
|
|
|
/*
|
|
send a BUTTON_CHANGE report to the GCS
|
|
*/
|
|
void AP_Button::send_report(void) const
|
|
{
|
|
const uint8_t mask = last_mask | pwm_state;
|
|
const mavlink_button_change_t packet{
|
|
time_boot_ms: AP_HAL::millis(),
|
|
last_change_ms: uint32_t(last_debounce_ms),
|
|
state: mask,
|
|
};
|
|
gcs().send_to_active_channels(MAVLINK_MSG_ID_BUTTON_CHANGE,
|
|
(const char *)&packet);
|
|
}
|
|
|
|
/*
|
|
setup the pins as input with pullup. We need pullup to give reliable
|
|
input with a pulldown button
|
|
*/
|
|
void AP_Button::setup_pins(void)
|
|
{
|
|
for (uint8_t i=0; i<AP_BUTTON_NUM_PINS; i++) {
|
|
if (is_pwm_input(i)) {
|
|
pwm_pin_source[i].set_pin(pin[i], "Button");
|
|
continue;
|
|
}
|
|
if (pin[i] == -1) {
|
|
continue;
|
|
}
|
|
|
|
hal.gpio->pinMode(pin[i], HAL_GPIO_INPUT);
|
|
// setup pullup
|
|
hal.gpio->write(pin[i], 1);
|
|
}
|
|
}
|
|
|
|
// check settings are valid
|
|
bool AP_Button::arming_checks(size_t buflen, char *buffer) const
|
|
{
|
|
if (!enable) {
|
|
return true;
|
|
}
|
|
for (uint8_t i=0; i<AP_BUTTON_NUM_PINS; i++) {
|
|
if (pin[i] != -1 && !hal.gpio->valid_pin(pin[i])) {
|
|
hal.util->snprintf(buffer, buflen, "BTN_PIN%u %d invalid", unsigned(i + 1), int(pin[i].get()));
|
|
return false;
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
|
|
namespace AP {
|
|
|
|
AP_Button &button()
|
|
{
|
|
return *AP_Button::get_singleton();
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|