mirror of https://github.com/ArduPilot/ardupilot
102 lines
2.7 KiB
C++
102 lines
2.7 KiB
C++
#pragma once
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#include <atomic>
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#include "AP_HAL_Linux.h"
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#define LINUX_RC_INPUT_NUM_CHANNELS 16
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namespace Linux {
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class RCInput : public AP_HAL::RCInput {
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public:
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RCInput();
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static RCInput *from(AP_HAL::RCInput *rcinput) {
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return static_cast<RCInput*>(rcinput);
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}
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virtual void init() override;
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bool new_input() override;
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uint8_t num_channels() override;
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void set_num_channels(uint8_t num);
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uint16_t read(uint8_t ch) override;
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uint8_t read(uint16_t* periods, uint8_t len) override;
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int16_t get_rssi(void) override {
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return _rssi;
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}
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const char *protocol() const override { return "Unknown"; }
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// default empty _timer_tick, this is overridden by board
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// specific implementations
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virtual void _timer_tick() {}
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// add some DSM input bytes, for RCInput over a serial port
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bool add_dsm_input(const uint8_t *bytes, size_t nbytes);
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// add some SBUS input bytes, for RCInput over a serial port
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void add_sbus_input(const uint8_t *bytes, size_t nbytes);
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// add some SUMD input bytes, for RCInput over a serial port
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bool add_sumd_input(const uint8_t *bytes, size_t nbytes);
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// add some st24 input bytes, for RCInput over a serial port
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bool add_st24_input(const uint8_t *bytes, size_t nbytes);
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// add some srxl input bytes, for RCInput over a serial port
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bool add_srxl_input(const uint8_t *bytes, size_t nbytes);
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protected:
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void _process_rc_pulse(uint16_t width_s0, uint16_t width_s1);
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void _update_periods(uint16_t *periods, uint8_t len);
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std::atomic<unsigned int> rc_input_count;
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std::atomic<unsigned int> last_rc_input_count;
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uint16_t _pwm_values[LINUX_RC_INPUT_NUM_CHANNELS];
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uint8_t _num_channels;
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void _process_ppmsum_pulse(uint16_t width);
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void _process_sbus_pulse(uint16_t width_s0, uint16_t width_s1);
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void _process_dsm_pulse(uint16_t width_s0, uint16_t width_s1);
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void _process_pwm_pulse(uint16_t channel, uint16_t width_s0, uint16_t width_s1);
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// state of ppm decoder
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struct {
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int8_t _channel_counter;
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uint16_t _pulse_capt[LINUX_RC_INPUT_NUM_CHANNELS];
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} ppm_state;
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// state of SBUS bit decoder
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struct {
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uint16_t bytes[25]; // including start bit, parity and stop bits
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uint16_t bit_ofs;
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} sbus_state;
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// state of DSM decoder
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struct {
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uint16_t bytes[16]; // including start bit and stop bit
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uint16_t bit_ofs;
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} dsm_state;
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// state of add_dsm_input
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struct {
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uint8_t frame[16];
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uint8_t partial_frame_count;
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uint32_t last_input_ms;
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} dsm;
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// state of add_sbus_input
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struct {
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uint8_t frame[25];
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uint8_t partial_frame_count;
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uint32_t last_input_ms;
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} sbus;
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int16_t _rssi = -1;
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};
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}
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