ardupilot/libraries/AP_HAL_Linux/RCInput.h

102 lines
2.7 KiB
C++

#pragma once
#include <atomic>
#include "AP_HAL_Linux.h"
#define LINUX_RC_INPUT_NUM_CHANNELS 16
namespace Linux {
class RCInput : public AP_HAL::RCInput {
public:
RCInput();
static RCInput *from(AP_HAL::RCInput *rcinput) {
return static_cast<RCInput*>(rcinput);
}
virtual void init() override;
bool new_input() override;
uint8_t num_channels() override;
void set_num_channels(uint8_t num);
uint16_t read(uint8_t ch) override;
uint8_t read(uint16_t* periods, uint8_t len) override;
int16_t get_rssi(void) override {
return _rssi;
}
const char *protocol() const override { return "Unknown"; }
// default empty _timer_tick, this is overridden by board
// specific implementations
virtual void _timer_tick() {}
// add some DSM input bytes, for RCInput over a serial port
bool add_dsm_input(const uint8_t *bytes, size_t nbytes);
// add some SBUS input bytes, for RCInput over a serial port
void add_sbus_input(const uint8_t *bytes, size_t nbytes);
// add some SUMD input bytes, for RCInput over a serial port
bool add_sumd_input(const uint8_t *bytes, size_t nbytes);
// add some st24 input bytes, for RCInput over a serial port
bool add_st24_input(const uint8_t *bytes, size_t nbytes);
// add some srxl input bytes, for RCInput over a serial port
bool add_srxl_input(const uint8_t *bytes, size_t nbytes);
protected:
void _process_rc_pulse(uint16_t width_s0, uint16_t width_s1);
void _update_periods(uint16_t *periods, uint8_t len);
std::atomic<unsigned int> rc_input_count;
std::atomic<unsigned int> last_rc_input_count;
uint16_t _pwm_values[LINUX_RC_INPUT_NUM_CHANNELS];
uint8_t _num_channels;
void _process_ppmsum_pulse(uint16_t width);
void _process_sbus_pulse(uint16_t width_s0, uint16_t width_s1);
void _process_dsm_pulse(uint16_t width_s0, uint16_t width_s1);
void _process_pwm_pulse(uint16_t channel, uint16_t width_s0, uint16_t width_s1);
// state of ppm decoder
struct {
int8_t _channel_counter;
uint16_t _pulse_capt[LINUX_RC_INPUT_NUM_CHANNELS];
} ppm_state;
// state of SBUS bit decoder
struct {
uint16_t bytes[25]; // including start bit, parity and stop bits
uint16_t bit_ofs;
} sbus_state;
// state of DSM decoder
struct {
uint16_t bytes[16]; // including start bit and stop bit
uint16_t bit_ofs;
} dsm_state;
// state of add_dsm_input
struct {
uint8_t frame[16];
uint8_t partial_frame_count;
uint32_t last_input_ms;
} dsm;
// state of add_sbus_input
struct {
uint8_t frame[25];
uint8_t partial_frame_count;
uint32_t last_input_ms;
} sbus;
int16_t _rssi = -1;
};
}