mirror of https://github.com/ArduPilot/ardupilot
64 lines
1.5 KiB
C++
64 lines
1.5 KiB
C++
#pragma once
|
|
|
|
#include "AP_RCProtocol_config.h"
|
|
|
|
#if AP_RCPROTOCOL_DRONECAN_ENABLED
|
|
|
|
#include "AP_RCProtocol_Backend.h"
|
|
|
|
#include <AP_DroneCAN/AP_DroneCAN.h>
|
|
|
|
#include <AP_Common/missing/endian.h>
|
|
|
|
class AP_RCProtocol_DroneCAN : public AP_RCProtocol_Backend {
|
|
public:
|
|
|
|
AP_RCProtocol_DroneCAN(AP_RCProtocol &_frontend) :
|
|
AP_RCProtocol_Backend(_frontend) {
|
|
_singleton = this;
|
|
}
|
|
|
|
static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
|
|
|
|
void update() override;
|
|
|
|
private:
|
|
|
|
static class AP_RCProtocol_DroneCAN *_singleton;
|
|
|
|
static void handle_rcinput(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const dronecan_sensors_rc_RCInput &msg);
|
|
|
|
static AP_RCProtocol_DroneCAN* get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id);
|
|
|
|
struct {
|
|
uint8_t quality;
|
|
union {
|
|
uint16_t status;
|
|
struct {
|
|
uint8_t QUALITY_VALID : 1;
|
|
uint8_t FAILSAFE : 1;
|
|
} bits;
|
|
};
|
|
uint8_t num_channels;
|
|
uint16_t channels[MAX_RCIN_CHANNELS];
|
|
|
|
uint32_t last_sample_time_ms;
|
|
HAL_Semaphore sem;
|
|
} rcin;
|
|
|
|
// Module Detection Registry
|
|
static struct Registry {
|
|
struct DetectedDevice {
|
|
AP_DroneCAN* ap_dronecan;
|
|
uint8_t node_id;
|
|
AP_RCProtocol_DroneCAN *driver;
|
|
} detected_devices[1];
|
|
HAL_Semaphore sem;
|
|
} registry;
|
|
|
|
uint32_t last_receive_ms;
|
|
};
|
|
|
|
|
|
#endif // AP_RCPROTOCOL_DRONECAN_ENABLED
|