mirror of https://github.com/ArduPilot/ardupilot
67 lines
1.8 KiB
C++
67 lines
1.8 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Code by Andrew Tridgell and Siddharth Bharat Purohit
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*/
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#include "AP_RCProtocol.h"
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#include <AP_Math/AP_Math.h>
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#include <RC_Channel/RC_Channel.h>
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#include <AP_Vehicle/AP_Vehicle_Type.h>
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AP_RCProtocol_Backend::AP_RCProtocol_Backend(AP_RCProtocol &_frontend) :
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frontend(_frontend),
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rc_input_count(0),
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last_rc_input_count(0),
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_num_channels(0)
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{}
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bool AP_RCProtocol_Backend::new_input()
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{
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bool ret = rc_input_count != last_rc_input_count;
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if (ret) {
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last_rc_input_count = rc_input_count;
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}
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return ret;
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}
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uint8_t AP_RCProtocol_Backend::num_channels()
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{
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return _num_channels;
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}
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uint16_t AP_RCProtocol_Backend::read(uint8_t chan)
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{
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return _pwm_values[chan];
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}
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/*
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provide input from a backend
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*/
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void AP_RCProtocol_Backend::add_input(uint8_t num_values, uint16_t *values, bool in_failsafe)
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{
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num_values = MIN(num_values, MAX_RCIN_CHANNELS);
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memcpy(_pwm_values, values, num_values*sizeof(uint16_t));
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_num_channels = num_values;
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rc_frame_count++;
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#if !APM_BUILD_TYPE(APM_BUILD_iofirmware)
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if (rc().ignore_rc_failsafe()) {
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in_failsafe = false;
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}
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#endif
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if (!in_failsafe) {
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rc_input_count++;
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}
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}
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