ardupilot/libraries/AP_Button/AP_Button.h

89 lines
2.1 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/>.
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
// allow buttons for up to 4 pins
#define AP_BUTTON_NUM_PINS 4
// how often we send reports
#define AP_BUTTON_REPORT_PERIOD_MS 1000
class AP_Button {
public:
// constructor
AP_Button(void);
/* Do not allow copies */
AP_Button(const AP_Button &other) = delete;
AP_Button &operator=(const AP_Button&) = delete;
static const struct AP_Param::GroupInfo var_info[];
// update button state and send messages, called periodically by main loop
void update(void);
static AP_Button *get_singleton(void) {
return _singleton;
}
// get state of a button
// used by scripting
bool get_button_state(uint8_t number);
private:
static AP_Button *_singleton;
AP_Int8 enable;
AP_Int8 pin[AP_BUTTON_NUM_PINS];
// number of seconds to send change notifications
AP_Int16 report_send_time;
// last button press mask
uint8_t last_mask;
// debounced button press mask
uint8_t debounce_mask;
// when the mask last changed
uint64_t last_change_time_ms;
// time of last report
uint32_t last_report_ms;
// has the timer been installed?
bool initialised:1;
// called by timer thread
void timer_update(void);
// get current mask
uint8_t get_mask(void);
// send a BUTTON_CHANGE report
void send_report(void);
// setup pins as pullup input
void setup_pins();
};
namespace AP {
AP_Button &button();
};