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ardupilot/libraries/AP_Button/AP_Button.cpp

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/*
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/>.
*/
#include "AP_Button.h"
#if HAL_BUTTON_ENABLED
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <GCS_MAVLink/GCS.h>
// very crude debounce method
#define DEBOUNCE_MS 50
extern const AP_HAL::HAL& hal;
AP_Button *AP_Button::_singleton;
const AP_Param::GroupInfo AP_Button::var_info[] = {
// @Param: ENABLE
// @DisplayName: Enable button reporting
// @Description: This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible
// @Values: 0:Disabled, 1:Enabled
// @User: Advanced
AP_GROUPINFO_FLAGS("ENABLE", 0, AP_Button, enable, 0, AP_PARAM_FLAG_ENABLE),
// @Param: PIN1
// @DisplayName: First button Pin
// @Description: Digital pin number for first button input.
// @User: Standard
// @Values: -1:Disabled,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6
AP_GROUPINFO("PIN1", 1, AP_Button, pin[0], -1),
// @Param: PIN2
// @DisplayName: Second button Pin
// @Description: Digital pin number for second button input.
// @User: Standard
// @Values: -1:Disabled,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6
AP_GROUPINFO("PIN2", 2, AP_Button, pin[1], -1),
// @Param: PIN3
// @DisplayName: Third button Pin
// @Description: Digital pin number for third button input.
// @User: Standard
// @Values: -1:Disabled,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6
AP_GROUPINFO("PIN3", 3, AP_Button, pin[2], -1),
// @Param: PIN4
// @DisplayName: Fourth button Pin
// @Description: Digital pin number for fourth button input.
// @User: Standard
// @Values: -1:Disabled,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6
AP_GROUPINFO("PIN4", 4, AP_Button, pin[3], -1),
// @Param: REPORT_SEND
// @DisplayName: Report send time
// @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.
// @User: Standard
// @Range: 0 3600
AP_GROUPINFO("REPORT_SEND", 5, AP_Button, report_send_time, 10),
// @Param: OPTIONS1
// @DisplayName: Button Pin 1 Options
// @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.
// @User: Standard
// @Bitmask: 0:PWM Input,1:InvertInput
AP_GROUPINFO("OPTIONS1", 6, AP_Button, options[0], 0),
// @Param: OPTIONS2
// @DisplayName: Button Pin 2 Options
// @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.
// @User: Standard
// @Bitmask: 0:PWM Input,1:InvertInput
AP_GROUPINFO("OPTIONS2", 7, AP_Button, options[1], 0),
// @Param: OPTIONS3
// @DisplayName: Button Pin 3 Options
// @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.
// @Bitmask: 0:PWM Input,1:InvertInput
AP_GROUPINFO("OPTIONS3", 8, AP_Button, options[2], 0),
// @Param: OPTIONS4
// @DisplayName: Button Pin 4 Options
// @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.
// @User: Standard
// @Bitmask: 0:PWM Input,1:InvertInput
AP_GROUPINFO("OPTIONS4", 9, AP_Button, options[3], 0),
// @Param: FUNC1
// @DisplayName: Button Pin 1 RC Channel function
// @Description: Auxiliary RC Options function executed on pin change
// @CopyValuesFrom: RC1_OPTION
// @User: Standard
AP_GROUPINFO("FUNC1", 10, AP_Button, pin_func[0], (uint16_t)RC_Channel::AUX_FUNC::DO_NOTHING),
// @Param: FUNC2
// @DisplayName: Button Pin 2 RC Channel function
// @Description: Auxiliary RC Options function executed on pin change
// @CopyValuesFrom: RC1_OPTION
// @User: Standard
AP_GROUPINFO("FUNC2", 11, AP_Button, pin_func[1], (uint16_t)RC_Channel::AUX_FUNC::DO_NOTHING),
// @Param: FUNC3
// @DisplayName: Button Pin 3 RC Channel function
// @Description: Auxiliary RC Options function executed on pin change
// @CopyValuesFrom: RC1_OPTION
// @User: Standard
AP_GROUPINFO("FUNC3", 12, AP_Button, pin_func[2], (uint16_t)RC_Channel::AUX_FUNC::DO_NOTHING),
// @Param: FUNC4
// @DisplayName: Button Pin 4 RC Channel function
// @Description: Auxiliary RC Options function executed on pin change
// @CopyValuesFrom: RC1_OPTION
// @User: Standard
AP_GROUPINFO("FUNC4", 13, AP_Button, pin_func[3], (uint16_t)RC_Channel::AUX_FUNC::DO_NOTHING),
AP_GROUPEND
};
// constructor
AP_Button::AP_Button(void)
{
AP_Param::setup_object_defaults(this, var_info);
if (_singleton != nullptr) {
AP_HAL::panic("AP_Button must be singleton");
}
_singleton = this;
}
/*
update and report, called from main loop
*/
void AP_Button::update(void)
{
if (!enable) {
return;
}
// call setup pins at update rate (5Hz) to allow for runtime parameter change of pins
setup_pins();
if (!initialised) {
initialised = true;
// 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));
}
// act on any changes in state
{
WITH_SEMAPHORE(last_debounced_change_ms_sem);
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
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