mirror of https://github.com/ArduPilot/ardupilot
55 lines
1.8 KiB
C++
55 lines
1.8 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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/*
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Flymaple port by Mike McCauley
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*/
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#ifndef __AP_HAL_FLYMAPLE_RCINPUT_H__
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#define __AP_HAL_FLYMAPLE_RCINPUT_H__
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#include "AP_HAL_FLYMAPLE.h"
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#define FLYMAPLE_RC_INPUT_NUM_CHANNELS 8
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#define FLYMAPLE_RC_INPUT_MIN_CHANNELS 5 // for ppm sum we allow less than 8 channels to make up a valid packet
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class AP_HAL_FLYMAPLE_NS::FLYMAPLERCInput : public AP_HAL::RCInput {
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public:
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FLYMAPLERCInput();
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void init(void* machtnichts);
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bool new_input();
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uint8_t num_channels();
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uint16_t read(uint8_t ch);
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uint8_t read(uint16_t* periods, uint8_t len);
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bool set_overrides(int16_t *overrides, uint8_t len);
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bool set_override(uint8_t channel, int16_t override);
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void clear_overrides();
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private:
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/* private callback for input capture ISR */
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static void _timer_capt_cb(void);
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/* private variables to communicate with input capture isr */
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static volatile uint16_t _pulse_capt[FLYMAPLE_RC_INPUT_NUM_CHANNELS];
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static volatile uint8_t _valid_channels;
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static volatile uint32_t _last_input_interrupt_time;
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/* override state */
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uint16_t _override[FLYMAPLE_RC_INPUT_NUM_CHANNELS];
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};
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#endif // __AP_HAL_FLYMAPLE_RCINPUT_H__
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