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