mirror of https://github.com/ArduPilot/ardupilot
55 lines
1.8 KiB
C++
55 lines
1.8 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
/*
|
|
Flymaple port by Mike McCauley
|
|
*/
|
|
|
|
#ifndef __AP_HAL_FLYMAPLE_RCINPUT_H__
|
|
#define __AP_HAL_FLYMAPLE_RCINPUT_H__
|
|
|
|
#include <AP_HAL_FLYMAPLE.h>
|
|
|
|
#define FLYMAPLE_RC_INPUT_NUM_CHANNELS 8
|
|
|
|
#define FLYMAPLE_RC_INPUT_MIN_CHANNELS 5 // for ppm sum we allow less than 8 channels to make up a valid packet
|
|
|
|
class AP_HAL_FLYMAPLE_NS::FLYMAPLERCInput : public AP_HAL::RCInput {
|
|
public:
|
|
FLYMAPLERCInput();
|
|
void init(void* machtnichts);
|
|
bool new_input();
|
|
uint8_t num_channels();
|
|
uint16_t read(uint8_t ch);
|
|
uint8_t read(uint16_t* periods, uint8_t len);
|
|
|
|
bool set_overrides(int16_t *overrides, uint8_t len);
|
|
bool set_override(uint8_t channel, int16_t override);
|
|
void clear_overrides();
|
|
|
|
private:
|
|
/* private callback for input capture ISR */
|
|
static void _timer_capt_cb(void);
|
|
|
|
/* private variables to communicate with input capture isr */
|
|
static volatile uint16_t _pulse_capt[FLYMAPLE_RC_INPUT_NUM_CHANNELS];
|
|
static volatile uint8_t _valid_channels;
|
|
static volatile uint32_t _last_input_interrupt_time;
|
|
|
|
/* override state */
|
|
uint16_t _override[FLYMAPLE_RC_INPUT_NUM_CHANNELS];
|
|
};
|
|
|
|
#endif // __AP_HAL_FLYMAPLE_RCINPUT_H__
|