mirror of https://github.com/ArduPilot/ardupilot
54 lines
1.2 KiB
C++
54 lines
1.2 KiB
C++
#pragma once
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#include "AP_HAL_QURT.h"
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#define QURT_RC_INPUT_NUM_CHANNELS 16
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class QURT::RCInput : public AP_HAL::RCInput {
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public:
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RCInput(const char *device_path);
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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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void set_device_path(const char *path) {
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device_path = path;
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}
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void init();
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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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void read_callback(char *buf, size_t size);
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private:
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volatile bool new_rc_input;
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uint16_t _pwm_values[QURT_RC_INPUT_NUM_CHANNELS];
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uint8_t _num_channels;
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/* override state */
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uint16_t _override[QURT_RC_INPUT_NUM_CHANNELS];
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// add some DSM input bytes, for RCInput over a serial port
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void add_dsm_input(const uint8_t *bytes, size_t nbytes);
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const char *device_path;
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int32_t fd = -1;
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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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};
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