mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 22:48:29 -04:00
54c2c5f682
Instead of just doing a static cast to the desired class, use a method
named "from". Pros:
- When we have data shared on the parent class, the code is cleaner in
child class when it needs to access this data. Almost all the data
we use in AP_HAL benefits from this
- There's a minimal type checking because now we are using a method
that can only receive the type of the parent class
71 lines
1.8 KiB
C++
71 lines
1.8 KiB
C++
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#ifndef __AP_HAL_LINUX_RCINPUT_H__
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#define __AP_HAL_LINUX_RCINPUT_H__
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#include "AP_HAL_Linux.h"
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#define LINUX_RC_INPUT_NUM_CHANNELS 16
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class Linux::LinuxRCInput : public AP_HAL::RCInput {
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public:
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LinuxRCInput();
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static LinuxRCInput *from(AP_HAL::RCInput *rcinput) {
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return static_cast<LinuxRCInput*>(rcinput);
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}
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virtual void init(void* machtnichts);
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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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// default empty _timer_tick, this is overridden by board
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// specific implementations
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virtual void _timer_tick() {}
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protected:
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void _process_rc_pulse(uint16_t width_s0, uint16_t width_s1);
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void _update_periods(uint16_t *periods, uint8_t len);
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private:
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volatile bool new_rc_input;
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uint16_t _pwm_values[LINUX_RC_INPUT_NUM_CHANNELS];
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uint8_t _num_channels;
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void _process_ppmsum_pulse(uint16_t width);
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void _process_sbus_pulse(uint16_t width_s0, uint16_t width_s1);
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void _process_dsm_pulse(uint16_t width_s0, uint16_t width_s1);
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/* override state */
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uint16_t _override[LINUX_RC_INPUT_NUM_CHANNELS];
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// state of ppm decoder
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struct {
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int8_t _channel_counter;
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uint16_t _pulse_capt[LINUX_RC_INPUT_NUM_CHANNELS];
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} ppm_state;
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// state of SBUS bit decoder
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struct {
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uint16_t bytes[25]; // including start bit, parity and stop bits
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uint16_t bit_ofs;
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} sbus_state;
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// state of DSM decoder
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struct {
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uint16_t bytes[16]; // including start bit and stop bit
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uint16_t bit_ofs;
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} dsm_state;
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};
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#include "RCInput_PRU.h"
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#include "RCInput_ZYNQ.h"
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#endif // __AP_HAL_LINUX_RCINPUT_H__
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