mirror of https://github.com/ArduPilot/ardupilot
115 lines
4.1 KiB
C++
115 lines
4.1 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_Math/AP_Math.h>
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class AP_RSSI
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{
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public:
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enum class RssiType {
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TYPE_DISABLED = 0,
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ANALOG_PIN = 1,
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RC_CHANNEL_VALUE = 2,
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RECEIVER = 3,
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PWM_PIN = 4,
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TELEMETRY_RADIO_RSSI = 5,
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};
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AP_RSSI();
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/* Do not allow copies */
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AP_RSSI(const AP_RSSI &other) = delete;
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AP_RSSI &operator=(const AP_RSSI&) = delete;
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// destructor
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~AP_RSSI(void);
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static AP_RSSI *get_singleton();
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// Initialize the rssi object and prepare it for use
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void init();
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// return true if rssi reading is enabled
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bool enabled() const { return RssiType(rssi_type.get()) != RssiType::TYPE_DISABLED; }
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// Read the receiver RSSI value as a float 0.0f - 1.0f.
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// 0.0 represents weakest signal, 1.0 represents maximum signal.
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float read_receiver_rssi();
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// Read the receiver RSSI value as an 8-bit integer
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// 0 represents weakest signal, 255 represents maximum signal.
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uint8_t read_receiver_rssi_uint8();
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// parameter block
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static const struct AP_Param::GroupInfo var_info[];
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private:
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static AP_RSSI *_singleton;
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// RSSI parameters
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AP_Int8 rssi_type; // Type of RSSI being used
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AP_Int8 rssi_analog_pin; // Analog pin RSSI value found on
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AP_Float rssi_analog_pin_range_low; // Voltage value for weakest rssi signal
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AP_Float rssi_analog_pin_range_high; // Voltage value for strongest rssi signal
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AP_Int8 rssi_channel; // allows rssi to be read from given channel as PWM value
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AP_Int16 rssi_channel_low_pwm_value; // PWM value for weakest rssi signal
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AP_Int16 rssi_channel_high_pwm_value; // PWM value for strongest rssi signal
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// Analog Inputs
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// a pin for reading the receiver RSSI voltage.
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AP_HAL::AnalogSource *rssi_analog_source;
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// PWM input
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struct PWMState {
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int8_t last_rssi_analog_pin; // last pin used for reading pwm (used to recognise change in pin assignment)
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uint32_t last_reading_ms; // system time of last read (used for health reporting)
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float rssi_value; // last calculated RSSI value
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// the following two members are updated by the interrupt handler
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uint32_t irq_value_us; // last calculated pwm value (irq copy)
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uint32_t pulse_start_us; // system time of start of pulse
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} pwm_state;
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// read the RSSI value from an analog pin - returns float in range 0.0 to 1.0
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float read_pin_rssi();
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// check if pin has changed and configure interrupt handlers if required
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void check_pwm_pin_rssi();
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// read the RSSI value from a PWM value on a RC channel
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float read_channel_rssi();
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// read the PWM value from a pin
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float read_pwm_pin_rssi();
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// read the (RC) RSSI value from telemtry radio RSSI (e.g. rfd900x pass-through)
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float read_telemetry_radio_rssi();
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// Scale and constrain a float rssi value to 0.0 to 1.0 range
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float scale_and_constrain_float_rssi(float current_rssi_value, float low_rssi_range, float high_rssi_range);
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// PWM input handling
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void irq_handler(uint8_t pin,
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bool pin_state,
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uint32_t timestamp);
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};
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namespace AP {
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AP_RSSI *rssi();
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};
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