ardupilot/libraries/AP_HAL_Linux/RCInput_Multi.cpp

68 lines
1.8 KiB
C++

/*
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/>.
*/
/*
this is a driver for multiple RCInput methods on one board
*/
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
#include "RCInput_Multi.h"
extern const AP_HAL::HAL& hal;
using namespace Linux;
// constructor
RCInput_Multi::RCInput_Multi(uint8_t _num_inputs, ...) :
num_inputs(_num_inputs)
{
va_list ap;
inputs = new RCInput*[num_inputs];
if (inputs == nullptr) {
AP_HAL::panic("failed to allocated RCInput array");
}
va_start(ap, _num_inputs);
for (uint8_t i=0; i<num_inputs; i++) {
inputs[i] = va_arg(ap, RCInput *);
if (inputs[i] == nullptr) {
AP_HAL::panic("Bad RCInput object");
}
}
va_end(ap);
}
void RCInput_Multi::init()
{
for (uint8_t i=0; i<num_inputs; i++) {
inputs[i]->init();
}
}
void RCInput_Multi::_timer_tick(void)
{
for (uint8_t i=0; i<num_inputs; i++) {
inputs[i]->_timer_tick();
if (inputs[i]->new_input()) {
inputs[i]->read(_pwm_values, inputs[i]->num_channels());
_num_channels = inputs[i]->num_channels();
rc_input_count++;
}
}
}
#endif // CONFIG_HAL_BOARD_SUBTYPE