ardupilot/libraries/AP_HAL_PX4/RCInput.cpp

100 lines
2.0 KiB
C++

#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include "RCInput.h"
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
using namespace PX4;
extern const AP_HAL::HAL& hal;
void PX4RCInput::init(void* unused)
{
_perf_rcin = perf_alloc(PC_ELAPSED, "APM_rcin");
_rc_sub = orb_subscribe(ORB_ID(input_rc));
if (_rc_sub == -1) {
hal.scheduler->panic("Unable to subscribe to input_rc");
}
clear_overrides();
}
uint8_t PX4RCInput::valid_channels()
{
return _rcin.timestamp != _last_read || _override_valid;
}
uint16_t PX4RCInput::read(uint8_t ch)
{
if (ch >= RC_INPUT_MAX_CHANNELS) {
return 0;
}
_last_read = _rcin.timestamp;
_override_valid = false;
if (_override[ch]) {
return _override[ch];
}
if (ch >= _rcin.channel_count) {
return 0;
}
return _rcin.values[ch];
}
uint8_t PX4RCInput::read(uint16_t* periods, uint8_t len)
{
if (len > RC_INPUT_MAX_CHANNELS) {
len = RC_INPUT_MAX_CHANNELS;
}
for (uint8_t i = 0; i < len; i++){
periods[i] = read(i);
}
return len;
}
bool PX4RCInput::set_overrides(int16_t *overrides, uint8_t len)
{
bool res = false;
for (uint8_t i = 0; i < len; i++) {
res |= set_override(i, overrides[i]);
}
return res;
}
bool PX4RCInput::set_override(uint8_t channel, int16_t override) {
if (override < 0) {
return false; /* -1: no change. */
}
if (channel >= RC_INPUT_MAX_CHANNELS) {
return false;
}
_override[channel] = override;
if (override != 0) {
_override_valid = true;
return true;
}
return false;
}
void PX4RCInput::clear_overrides()
{
for (uint8_t i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
set_override(i, 0);
}
}
void PX4RCInput::_timer_tick(void)
{
perf_begin(_perf_rcin);
bool rc_updated = false;
if (orb_check(_rc_sub, &rc_updated) == 0 && rc_updated) {
orb_copy(ORB_ID(input_rc), _rc_sub, &_rcin);
_last_input = _rcin.timestamp;
} else if (hrt_absolute_time() - _last_input > 300000) {
// we've lost RC input, force channel 3 low
_rcin.values[2] = 900;
}
perf_end(_perf_rcin);
}
#endif