mirror of https://github.com/ArduPilot/ardupilot
106 lines
2.6 KiB
C++
106 lines
2.6 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Code by Andrew Tridgell and Siddharth Bharat Purohit
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*/
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#pragma once
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#include "AP_HAL_ChibiOS.h"
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#include "Semaphores.h"
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#if HAL_RCINPUT_WITH_AP_RADIO
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#include <AP_Radio/AP_Radio.h>
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#endif
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#include <AP_RCProtocol/AP_RCProtocol.h>
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#if HAL_USE_ICU == TRUE
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#include "SoftSigReader.h"
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#endif
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#if HAL_USE_EICU == TRUE
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#include "SoftSigReaderInt.h"
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#endif
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#ifndef RC_INPUT_MAX_CHANNELS
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#define RC_INPUT_MAX_CHANNELS 18
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#endif
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class ChibiOS::RCInput : public AP_HAL::RCInput {
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public:
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void init() override;
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bool new_input() override;
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uint8_t num_channels() override;
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uint16_t read(uint8_t ch) override;
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uint8_t read(uint16_t* periods, uint8_t len) override;
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/* enable or disable pulse input for RC input. This is used to
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reduce load when we are decoding R/C via a UART */
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void pulse_input_enable(bool enable) override;
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int16_t get_rssi(void) override {
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return _rssi;
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}
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int16_t get_rx_link_quality(void) override {
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return _rx_link_quality;
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}
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const char *protocol() const override { return last_protocol; }
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void _timer_tick(void);
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bool rc_bind(int dsmMode) override;
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private:
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uint16_t _rc_values[RC_INPUT_MAX_CHANNELS] = {0};
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uint64_t _last_read;
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uint8_t _num_channels;
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Semaphore rcin_mutex;
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int16_t _rssi = -1;
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int16_t _rx_link_quality = -1;
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uint32_t _rcin_timestamp_last_signal;
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#if HAL_WITH_IO_MCU
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uint32_t _rcin_last_iomcu_ms;
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#endif
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bool _init;
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const char *last_protocol;
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enum class RCSource {
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NONE = 0,
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IOMCU = 1,
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RCPROT_PULSES = 2,
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RCPROT_BYTES = 3,
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APRADIO = 4,
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} last_source;
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bool pulse_input_enabled;
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#if HAL_RCINPUT_WITH_AP_RADIO
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bool _radio_init;
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AP_Radio *radio;
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uint32_t last_radio_us;
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#endif
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#if HAL_USE_ICU == TRUE
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ChibiOS::SoftSigReader sig_reader;
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#endif
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#if HAL_USE_EICU == TRUE
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ChibiOS::SoftSigReaderInt sig_reader;
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#endif
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#if HAL_WITH_IO_MCU
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uint32_t last_iomcu_us;
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#endif
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};
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