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