mirror of https://github.com/ArduPilot/ardupilot
133 lines
2.7 KiB
C++
133 lines
2.7 KiB
C++
#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include <stdio.h>
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#include <sys/time.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <errno.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <sys/mman.h>
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#include <sys/stat.h>
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#include <stdint.h>
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#include "RCInput.h"
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using namespace Linux;
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LinuxRCInput::LinuxRCInput() :
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new_rc_input(false),
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_channel_counter(-1)
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{}
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void LinuxRCInput::init(void* machtnichts)
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{
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}
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bool LinuxRCInput::new_input()
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{
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return new_rc_input;
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}
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uint8_t LinuxRCInput::num_channels()
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{
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return _num_channels;
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}
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uint16_t LinuxRCInput::read(uint8_t ch)
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{
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new_rc_input = false;
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if (_override[ch]) {
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return _override[ch];
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}
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return _pulse_capt[ch];
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}
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uint8_t LinuxRCInput::read(uint16_t* periods, uint8_t len)
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{
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uint8_t i;
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for (i=0; i<len; i++) {
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if((periods[i] = read(i))){
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continue;
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}
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else{
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break;
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}
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}
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return (i+1);
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}
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bool LinuxRCInput::set_overrides(int16_t *overrides, uint8_t len)
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{
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bool res = false;
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if(len > LINUX_RC_INPUT_NUM_CHANNELS){
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len = LINUX_RC_INPUT_NUM_CHANNELS;
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}
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for (uint8_t i = 0; i < len; i++) {
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res |= set_override(i, overrides[i]);
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}
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return res;
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}
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bool LinuxRCInput::set_override(uint8_t channel, int16_t override)
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{
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if (override < 0) return false; /* -1: no change. */
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if (channel < LINUX_RC_INPUT_NUM_CHANNELS) {
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_override[channel] = override;
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if (override != 0) {
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new_rc_input = true;
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return true;
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}
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}
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return false;
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}
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void LinuxRCInput::clear_overrides()
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{
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for (uint8_t i = 0; i < LINUX_RC_INPUT_NUM_CHANNELS; i++) {
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_override[i] = 0;
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}
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}
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/*
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process a pulse of the given width
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*/
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void LinuxRCInput::_process_ppmsum_pulse(uint16_t width_usec)
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{
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if (width_usec >= 4000) {
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// a long pulse indicates the end of a frame. Reset the
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// channel counter so next pulse is channel 0
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if (_channel_counter != -1) {
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new_rc_input = true;
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_num_channels = _channel_counter;
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}
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_channel_counter = 0;
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return;
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}
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if (_channel_counter == -1) {
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// we are not synchronised
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return;
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}
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// take a reading for the current channel
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_pulse_capt[_channel_counter] = width_usec;
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// move to next channel
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_channel_counter++;
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// if we have reached the maximum supported channels then
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// mark as unsynchronised, so we wait for a wide pulse
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if (_channel_counter >= LINUX_RC_INPUT_NUM_CHANNELS) {
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new_rc_input = true;
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_channel_counter = -1;
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_num_channels = _channel_counter;
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}
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}
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#endif // CONFIG_HAL_BOARD
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