ardupilot/libraries/AP_HAL/RCInput.h

57 lines
1.7 KiB
C++

#pragma once
#include "AP_HAL_Namespace.h"
#define RC_INPUT_MIN_PULSEWIDTH 900
#define RC_INPUT_MAX_PULSEWIDTH 2100
class AP_HAL::RCInput {
public:
/**
* Call init from the platform hal instance init, so that both the type of
* the RCInput implementation and init argument (e.g. ISRRegistry) are
* known to the programmer. (It's too difficult to describe this dependency
* in the C++ type system.)
*/
virtual void init() = 0;
virtual void teardown() {};
/**
* Return true if there has been new input since the last call to new_input()
*/
virtual bool new_input(void) = 0;
/**
* Return the number of valid channels in the last read
*/
virtual uint8_t num_channels() = 0;
/* Read a single channel at a time */
virtual uint16_t read(uint8_t ch) = 0;
/* Read an array of channels, return the valid count */
virtual uint8_t read(uint16_t* periods, uint8_t len) = 0;
/* get receiver based RSSI if available. -1 for unknown, 0 for no link, 255 for maximum link */
virtual int16_t get_rssi(void) { return -1; }
/* Return string describing method RC input protocol */
virtual const char *protocol() const = 0;
/**
* Overrides: these are really grody and don't belong here but we need
* them at the moment to make the port work.
* case v of:
* v == -1 -> no change to this channel
* v == 0 -> do not override this channel
* v > 0 -> set v as override.
*/
/* execute receiver bind */
virtual bool rc_bind(int dsmMode) { return false; }
/* enable or disable pulse input for RC input. This is used to
reduce load when we are decoding R/C via a UART */
virtual void pulse_input_enable(bool enable) { }
};