mirror of https://github.com/ArduPilot/ardupilot
185 lines
5.1 KiB
C++
185 lines
5.1 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_Button.h"
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include <GCS_MAVLink/GCS.h>
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extern const AP_HAL::HAL& hal;
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AP_Button *AP_Button::_singleton;
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const AP_Param::GroupInfo AP_Button::var_info[] = {
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// @Param: ENABLE
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// @DisplayName: Enable button reporting
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// @Description: This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible
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// @Values: 0:Disabled, 1:Enabled
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// @User: Advanced
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AP_GROUPINFO_FLAGS("ENABLE", 0, AP_Button, enable, 0, AP_PARAM_FLAG_ENABLE),
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// @Param: PIN1
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// @DisplayName: First button Pin
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// @Description: Digital pin number for first button input.
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// @User: Standard
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// @Values: -1:Disabled,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6
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AP_GROUPINFO("PIN1", 1, AP_Button, pin[0], -1),
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// @Param: PIN2
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// @DisplayName: Second button Pin
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// @Description: Digital pin number for second button input.
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// @User: Standard
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// @Values: -1:Disabled,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6
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AP_GROUPINFO("PIN2", 2, AP_Button, pin[1], -1),
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// @Param: PIN3
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// @DisplayName: Third button Pin
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// @Description: Digital pin number for third button input.
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// @User: Standard
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// @Values: -1:Disabled,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6
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AP_GROUPINFO("PIN3", 3, AP_Button, pin[2], -1),
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// @Param: PIN4
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// @DisplayName: Fourth button Pin
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// @Description: Digital pin number for fourth button input.
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// @User: Standard
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// @Values: -1:Disabled,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6
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AP_GROUPINFO("PIN4", 4, AP_Button, pin[3], -1),
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// @Param: REPORT_SEND
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// @DisplayName: Report send time
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// @Description: The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only.
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// @User: Standard
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// @Range: 0 3600
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AP_GROUPINFO("REPORT_SEND", 5, AP_Button, report_send_time, 10),
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AP_GROUPEND
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};
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// constructor
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AP_Button::AP_Button(void)
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{
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AP_Param::setup_object_defaults(this, var_info);
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if (_singleton != nullptr) {
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AP_HAL::panic("AP_Button must be singleton");
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}
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_singleton = this;
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}
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/*
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update and report, called from main loop
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*/
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void AP_Button::update(void)
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{
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if (!enable) {
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return;
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}
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// call setup pins at update rate (5Hz) to allow for runtime parameter change of pins
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setup_pins();
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if (!initialised) {
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initialised = true;
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// get initial mask
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last_mask = get_mask();
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// register 1kHz timer callback
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hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Button::timer_update, void));
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}
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if (last_change_time_ms != 0 &&
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(AP_HAL::millis() - last_report_ms) > AP_BUTTON_REPORT_PERIOD_MS &&
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(AP_HAL::millis64() - last_change_time_ms) < report_send_time*1000ULL) {
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// send a change report
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last_report_ms = AP_HAL::millis();
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// send a report to GCS
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send_report();
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}
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}
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/*
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get current mask
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*/
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uint8_t AP_Button::get_mask(void)
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{
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uint8_t mask = 0;
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for (uint8_t i=0; i<AP_BUTTON_NUM_PINS; i++) {
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if (pin[i] == -1) {
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continue;
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}
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mask |= hal.gpio->read(pin[i]) << i;
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}
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return mask;
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}
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/*
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called at 1kHz to check for button state change
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*/
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void AP_Button::timer_update(void)
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{
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if (!enable) {
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return;
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}
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uint8_t mask = get_mask();
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if (mask != last_mask) {
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last_mask = mask;
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last_change_time_ms = AP_HAL::millis64();
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}
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}
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/*
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send a BUTTON_CHANGE report to the GCS
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*/
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void AP_Button::send_report(void)
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{
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const mavlink_button_change_t packet{
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time_boot_ms: AP_HAL::millis(),
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last_change_ms: uint32_t(last_change_time_ms),
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state: last_mask
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};
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gcs().send_to_active_channels(MAVLINK_MSG_ID_BUTTON_CHANGE,
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(const char *)&packet);
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}
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/*
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setup the pins as input with pullup. We need pullup to give reliable
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input with a pulldown button
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*/
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void AP_Button::setup_pins(void)
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{
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for (uint8_t i=0; i<AP_BUTTON_NUM_PINS; i++) {
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if (pin[i] == -1) {
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continue;
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}
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hal.gpio->pinMode(pin[i], HAL_GPIO_INPUT);
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// setup pullup
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hal.gpio->write(pin[i], 1);
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}
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}
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namespace AP {
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AP_Button &button()
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{
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return *AP_Button::get_singleton();
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}
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}
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