mirror of https://github.com/ArduPilot/ardupilot
88 lines
2.6 KiB
C++
88 lines
2.6 KiB
C++
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#ifndef __AP_HAL_AVR_RC_INPUT_H__
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#define __AP_HAL_AVR_RC_INPUT_H__
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#include <AP_HAL.h>
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#include "AP_HAL_AVR_Namespace.h"
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#define AVR_RC_INPUT_NUM_CHANNELS 8
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class AP_HAL_AVR::APM1RCInput : public AP_HAL::RCInput {
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public:
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/**
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* init:
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* HAL_AVR::init should pass in a AP_HAL_AVR::ISRRegistry* as a void*
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*/
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void init(void* isrregistry);
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/**
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* valid():
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* Return the number of currently valid channels.
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* Typically 0 (no valid radio channels) or 8 (implementation-defined)
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* Could be less than or greater than 8 depending on your incoming radio
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* or PPM stream
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*/
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uint8_t valid();
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/**
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* read(uint8_t):
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* Read a single channel at a time
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*/
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uint16_t read(uint8_t ch);
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/**
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* read(uint16_t*,uint8_t):
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* Read an array of channels, return the valid count
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*/
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uint8_t read(uint16_t* periods, uint8_t len);
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/**
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* Overrides: these are really grody and don't belong here but we need
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* them at the moment to make the port work.
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* case v of:
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* v == -1 -> no change to this channel
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* v == 0 -> do not override this channel
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* v > 0 -> set v as override.
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*/
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/* set_overrides: array starts at ch 0, for len channels */
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bool set_overrides(int16_t *overrides, uint8_t len);
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/* set_override: set just a specific channel */
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bool set_override(uint8_t channel, int16_t override);
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/* clear_overrides: equivelant to setting all overrides to 0 */
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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 _timer4_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[AVR_RC_INPUT_NUM_CHANNELS];
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static volatile uint8_t _valid;
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/* override state */
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uint16_t _override[AVR_RC_INPUT_NUM_CHANNELS];
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};
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class AP_HAL_AVR::APM2RCInput : public AP_HAL::RCInput {
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/* Pass in a AP_HAL_AVR::ISRRegistry* as void*. */
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void init(void* isrregistry);
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uint8_t valid();
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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 _timer5_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[AVR_RC_INPUT_NUM_CHANNELS];
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static volatile uint8_t _valid;
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/* override state */
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uint16_t _override[AVR_RC_INPUT_NUM_CHANNELS];
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};
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#endif // __AP_HAL_AVR_RC_INPUT_H__
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