ardupilot/libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp

67 lines
1.8 KiB
C++

/*
* This file 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 file 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/>.
*
* Code by Andrew Tridgell and Siddharth Bharat Purohit
*/
#include "AP_RCProtocol.h"
#include <AP_Math/AP_Math.h>
#include <RC_Channel/RC_Channel.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
AP_RCProtocol_Backend::AP_RCProtocol_Backend(AP_RCProtocol &_frontend) :
frontend(_frontend),
rc_input_count(0),
last_rc_input_count(0),
_num_channels(0)
{}
bool AP_RCProtocol_Backend::new_input()
{
bool ret = rc_input_count != last_rc_input_count;
if (ret) {
last_rc_input_count = rc_input_count;
}
return ret;
}
uint8_t AP_RCProtocol_Backend::num_channels()
{
return _num_channels;
}
uint16_t AP_RCProtocol_Backend::read(uint8_t chan)
{
return _pwm_values[chan];
}
/*
provide input from a backend
*/
void AP_RCProtocol_Backend::add_input(uint8_t num_values, uint16_t *values, bool in_failsafe)
{
num_values = MIN(num_values, MAX_RCIN_CHANNELS);
memcpy(_pwm_values, values, num_values*sizeof(uint16_t));
_num_channels = num_values;
rc_frame_count++;
#if !APM_BUILD_TYPE(APM_BUILD_iofirmware)
if (rc().ignore_rc_failsafe()) {
in_failsafe = false;
}
#endif
if (!in_failsafe) {
rc_input_count++;
}
}