mirror of https://github.com/ArduPilot/ardupilot
41 lines
1.2 KiB
C++
41 lines
1.2 KiB
C++
|
|
#ifndef __AP_HAL_AVR_RC_INPUT_H__
|
|
#define __AP_HAL_AVR_RC_INPUT_H__
|
|
|
|
#include <AP_HAL.h>
|
|
#include "AP_HAL_AVR_Namespace.h"
|
|
|
|
#define AVR_RC_INPUT_NUM_CHANNELS 8
|
|
|
|
class AP_HAL_AVR::APM1RCInput : public AP_HAL::RCInput {
|
|
public:
|
|
/* Pass in a AP_HAL_AVR::ISRRegistry* as void*. */
|
|
void init(void* isrregistry);
|
|
uint8_t valid();
|
|
uint16_t read(uint8_t ch);
|
|
uint8_t read(uint16_t* periods, uint8_t len);
|
|
private:
|
|
/* private callback for input capture ISR */
|
|
static void _timer4_capt_cb(void);
|
|
/* private variables to communicate with input capture isr */
|
|
static volatile uint16_t _pulse_capt[AVR_RC_INPUT_NUM_CHANNELS];
|
|
static volatile uint8_t _valid;
|
|
};
|
|
|
|
class AP_HAL_AVR::APM2RCInput : public AP_HAL::RCInput {
|
|
/* Pass in a AP_HAL_AVR::ISRRegistry* as void*. */
|
|
void init(void* isrregistry);
|
|
uint8_t valid();
|
|
uint16_t read(uint8_t ch);
|
|
uint8_t read(uint16_t* periods, uint8_t len);
|
|
private:
|
|
/* private callback for input capture ISR */
|
|
static void _timer5_capt_cb(void);
|
|
/* private variables to communicate with input capture isr */
|
|
static volatile uint16_t _pulse_capt[AVR_RC_INPUT_NUM_CHANNELS];
|
|
static volatile uint8_t _valid;
|
|
};
|
|
|
|
#endif // __AP_HAL_AVR_RC_INPUT_H__
|
|
|