ardupilot/libraries/AP_HAL/RCInput.h

57 lines
1.8 KiB
C++

#pragma once
#include "AP_HAL_Namespace.h"
#define RC_INPUT_MIN_PULSEWIDTH 900
#define RC_INPUT_MAX_PULSEWIDTH 2100
class AP_HAL::RCInput {
public:
/**
* Call init from the platform hal instance init, so that both the type of
* the RCInput implementation and init argument (e.g. ISRRegistry) are
* known to the programmer. (Its too difficult to describe this dependency
* in the C++ type system.)
*/
virtual void init() = 0;
virtual void deinit() {};
/**
* Return true if there has been new input since the last read()
* call. This call also clears the new_input flag, so once it
* returns true it won't return true again until another frame is
* received.
*/
virtual bool new_input() = 0;
/**
* Return the number of valid channels in the last read
*/
virtual uint8_t num_channels() = 0;
/* Read a single channel at a time */
virtual uint16_t read(uint8_t ch) = 0;
/* Read an array of channels, return the valid count */
virtual uint8_t read(uint16_t* periods, uint8_t len) = 0;
/**
* Overrides: these are really grody and don't belong here but we need
* them at the moment to make the port work.
* case v of:
* v == -1 -> no change to this channel
* v == 0 -> do not override this channel
* v > 0 -> set v as override.
*/
/* set_overrides: array starts at ch 0, for len channels */
virtual bool set_overrides(int16_t *overrides, uint8_t len) = 0;
/* set_override: set just a specific channel */
virtual bool set_override(uint8_t channel, int16_t override) = 0;
/* clear_overrides: equivalent to setting all overrides to 0 */
virtual void clear_overrides() = 0;
/* execute receiver bind */
virtual bool rc_bind(int dsmMode) { return false; }
};