ardupilot/libraries/AP_RCProtocol/AP_RCProtocol_DroneCAN.h

64 lines
1.5 KiB
C++

#pragma once
#include "AP_RCProtocol_config.h"
#if AP_RCPROTOCOL_DRONECAN_ENABLED
#include "AP_RCProtocol_Backend.h"
#include <AP_DroneCAN/AP_DroneCAN.h>
#include <AP_Common/missing/endian.h>
class AP_RCProtocol_DroneCAN : public AP_RCProtocol_Backend {
public:
AP_RCProtocol_DroneCAN(AP_RCProtocol &_frontend) :
AP_RCProtocol_Backend(_frontend) {
_singleton = this;
}
static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
void update() override;
private:
static class AP_RCProtocol_DroneCAN *_singleton;
static void handle_rcinput(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const dronecan_sensors_rc_RCInput &msg);
static AP_RCProtocol_DroneCAN* get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id);
struct {
uint8_t quality;
union {
uint16_t status;
struct {
uint8_t QUALITY_VALID : 1;
uint8_t FAILSAFE : 1;
} bits;
};
uint8_t num_channels;
uint16_t channels[MAX_RCIN_CHANNELS];
uint32_t last_sample_time_ms;
HAL_Semaphore sem;
} rcin;
// Module Detection Registry
static struct Registry {
struct DetectedDevice {
AP_DroneCAN* ap_dronecan;
uint8_t node_id;
AP_RCProtocol_DroneCAN *driver;
} detected_devices[1];
HAL_Semaphore sem;
} registry;
uint32_t last_receive_ms;
};
#endif // AP_RCPROTOCOL_DRONECAN_ENABLED