mirror of https://github.com/ArduPilot/ardupilot
140 lines
3.6 KiB
C++
140 lines
3.6 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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#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#ifndef HAL_BUTTON_ENABLED
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#define HAL_BUTTON_ENABLED 1
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#endif
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#if HAL_BUTTON_ENABLED
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Param/AP_Param.h>
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// allow buttons for up to 4 pins
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#define AP_BUTTON_NUM_PINS 4
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// how often we send reports
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#define AP_BUTTON_REPORT_PERIOD_MS 1000
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class AP_Button {
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public:
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// constructor
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AP_Button(void);
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/* Do not allow copies */
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AP_Button(const AP_Button &other) = delete;
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AP_Button &operator=(const AP_Button&) = delete;
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static const struct AP_Param::GroupInfo var_info[];
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// update button state and send messages, called periodically by main loop
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void update(void);
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static AP_Button *get_singleton(void) {
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return _singleton;
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}
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// get state of a button
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// used by scripting
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bool get_button_state(uint8_t number);
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// check settings are valid
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bool arming_checks(size_t buflen, char *buffer) const;
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private:
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static AP_Button *_singleton;
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AP_Int8 enable;
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AP_Int8 pin[AP_BUTTON_NUM_PINS];
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AP_Int8 options[AP_BUTTON_NUM_PINS]; // if a pin's bit is set then it uses PWM assertion
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bool is_pwm_input(uint8_t n) const {
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return ((uint8_t)options[n].get() & (1U<<0)) != 0;
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}
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bool is_input_inverted(uint8_t n) const {
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return ((uint8_t)options[n].get() & (1U<<1)) != 0;
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}
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AP_Int16 pin_func[AP_BUTTON_NUM_PINS]; // from the RC_Channel functions
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// number of seconds to send change notifications
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AP_Int16 report_send_time;
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// last button press mask
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uint8_t last_mask;
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// debounced button press mask
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uint8_t debounce_mask;
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// current state of PWM pins:
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uint8_t pwm_state;
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uint8_t tentative_pwm_state; // for debouncing
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uint64_t pwm_start_debounce_ms;
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// mask indicating which action was most recent taken for pins
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uint8_t state_actioned_mask;
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// pwm sources are used when using PWM on the input
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AP_HAL::PWMSource pwm_pin_source[AP_BUTTON_NUM_PINS];
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// state from the timer interrupt:
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HAL_Semaphore last_debounced_change_ms_sem;
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// last time GPIO pins were debounced:
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uint64_t last_debounced_change_ms;
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// time at least last debounce changes across both PWM and GPIO
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// pins was detected:
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uint64_t last_debounce_ms;
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// when the mask last changed
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uint64_t last_change_time_ms;
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// when button change events were last actioned
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uint64_t last_action_time_ms;
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// true if allocated aux functions have been initialised
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bool aux_functions_initialised;
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// call init_aux_function for all used functions
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void run_aux_functions(bool force);
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// time of last report
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uint32_t last_report_ms;
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// has the timer been installed?
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bool initialised:1;
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// called by timer thread
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void timer_update(void);
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// get current mask
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uint8_t get_mask(void);
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// send a BUTTON_CHANGE report
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void send_report(void) const;
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// setup pins as pullup input
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void setup_pins();
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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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#endif
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