mirror of https://github.com/ArduPilot/ardupilot
108 lines
2.2 KiB
C++
108 lines
2.2 KiB
C++
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#include <AP_HAL_Boards.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
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#include "RCInput.h"
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#include <hwf4/timer.h>
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using namespace SMACCM;
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/* Constrain captured pulse to be between min and max pulsewidth. */
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static inline uint16_t constrain_pulse(uint16_t p)
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{
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if (p > RC_INPUT_MAX_PULSEWIDTH)
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return RC_INPUT_MAX_PULSEWIDTH;
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if (p < RC_INPUT_MIN_PULSEWIDTH)
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return RC_INPUT_MIN_PULSEWIDTH;
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return p;
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}
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SMACCMRCInput::SMACCMRCInput()
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{
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}
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void SMACCMRCInput::init(void *unused)
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{
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clear_overrides();
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}
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uint8_t SMACCMRCInput::valid_channels()
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{
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// If any of the overrides are positive, we have valid data.
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for (int i = 0; i < SMACCM_RCINPUT_CHANNELS; ++i)
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if (_override[i] > 0)
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return true;
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return timer_is_ppm_valid();
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}
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// It looks like the APM2 driver clears the PPM sample after this
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// function is called, so we do the same thing here for compatibility.
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uint16_t SMACCMRCInput::read(uint8_t ch)
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{
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uint16_t result = 0;
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if (_override[ch] != 0) {
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result = _override[ch];
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} else {
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timer_get_ppm_channel(ch, &result);
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result = constrain_pulse(result);
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}
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timer_clear_ppm();
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return constrain_pulse(result);
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}
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// It looks like the APM2 driver clears the PPM sample after this
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// function is called, so we do the same thing here for compatibility.
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uint8_t SMACCMRCInput::read(uint16_t *periods, uint8_t len)
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{
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uint8_t result;
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result = timer_get_ppm(periods, len, NULL);
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for (int i = 0; i < result; ++i) {
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periods[i] = constrain_pulse(periods[i]);
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if (_override[i] != 0)
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periods[i] = _override[i];
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}
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timer_clear_ppm();
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return result;
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}
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bool SMACCMRCInput::set_overrides(int16_t *overrides, uint8_t len)
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{
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bool result = false;
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for (int i = 0; i < len; ++i)
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result |= set_override(i, overrides[i]);
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return result;
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}
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bool SMACCMRCInput::set_override(uint8_t channel, int16_t override)
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{
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if (override < 0)
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return false;
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if (channel < SMACCM_RCINPUT_CHANNELS) {
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_override[channel] = override;
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if (override != 0) {
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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 SMACCMRCInput::clear_overrides()
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{
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for (int i = 0; i < SMACCM_RCINPUT_CHANNELS; ++i)
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_override[i] = 0;
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}
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
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