ardupilot/libraries/AP_HAL_AVR/RCInput.h

93 lines
2.8 KiB
C++

#ifndef __AP_HAL_AVR_RC_INPUT_H__
#define __AP_HAL_AVR_RC_INPUT_H__
#include <AP_HAL.h>
#include "AP_HAL_AVR_Namespace.h"
#define AVR_RC_INPUT_NUM_CHANNELS 11
#define AVR_RC_INPUT_MIN_CHANNELS 5 // for ppm sum we allow less than 8 channels to make up a valid packet
class AP_HAL_AVR::APM1RCInput : public AP_HAL::RCInput {
public:
/**
* init:
* HAL_AVR::init should pass in a AP_HAL_AVR::ISRRegistry* as a void*
*/
void init(void* isrregistry);
/**
* Return true if new input since the last read()
*/
bool new_input();
/**
* Return the number of input channels in last read()
*/
uint8_t num_channels();
/**
* read(uint8_t):
* Read a single channel at a time
*/
uint16_t read(uint8_t ch);
/**
* read(uint16_t*,uint8_t):
* Read an array of channels, return the valid count
*/
uint8_t read(uint16_t* periods, uint8_t len);
/**
* 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 */
bool set_overrides(int16_t *overrides, uint8_t len);
/* set_override: set just a specific channel */
bool set_override(uint8_t channel, int16_t override);
/* clear_overrides: equivelant to setting all overrides to 0 */
void clear_overrides();
private:
/* private callback for input capture ISR */
static void _timer4_capt_cb(void);
/* private variables to communicate with input capture isr */
static volatile uint16_t _pulse_capt[AVR_RC_INPUT_NUM_CHANNELS];
static volatile uint8_t _num_channels;
static volatile bool _new_input;
/* override state */
uint16_t _override[AVR_RC_INPUT_NUM_CHANNELS];
};
class AP_HAL_AVR::APM2RCInput : public AP_HAL::RCInput {
/* Pass in a AP_HAL_AVR::ISRRegistry* as void*. */
void init(void* isrregistry);
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();
private:
/* private callback for input capture ISR */
static void _timer5_capt_cb(void);
/* private variables to communicate with input capture isr */
static volatile uint16_t _pulse_capt[AVR_RC_INPUT_NUM_CHANNELS];
static volatile uint8_t _num_channels;
static volatile bool _new_input;
/* override state */
uint16_t _override[AVR_RC_INPUT_NUM_CHANNELS];
};
#endif // __AP_HAL_AVR_RC_INPUT_H__