ardupilot/libraries/AP_HAL_PX4/RCInput.h

43 lines
952 B
C++

#ifndef __AP_HAL_PX4_RCINPUT_H__
#define __AP_HAL_PX4_RCINPUT_H__
#include "AP_HAL_PX4.h"
#include <drivers/drv_rc_input.h>
#include <systemlib/perf_counter.h>
#include <pthread.h>
#ifndef RC_INPUT_MAX_CHANNELS
#define RC_INPUT_MAX_CHANNELS 18
#endif
class PX4::PX4RCInput : public AP_HAL::RCInput {
public:
void init();
bool new_input();
uint8_t num_channels();
uint16_t read(uint8_t ch);
uint8_t read(uint16_t* periods, uint8_t len);
bool set_overrides(int16_t *overrides, uint8_t len);
bool set_override(uint8_t channel, int16_t override);
void clear_overrides();
void _timer_tick(void);
bool rc_bind(int dsmMode);
private:
/* override state */
uint16_t _override[RC_INPUT_MAX_CHANNELS];
struct rc_input_values _rcin;
int _rc_sub;
uint64_t _last_read;
bool _override_valid;
perf_counter_t _perf_rcin;
pthread_mutex_t rcin_mutex;
};
#endif // __AP_HAL_PX4_RCINPUT_H__