Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : #pragma once
      16             : 
      17             : #include <AP_HAL/AP_HAL_Boards.h>
      18             : 
      19             : #ifndef HAL_BUTTON_ENABLED
      20             : #define HAL_BUTTON_ENABLED 1
      21             : #endif
      22             : 
      23             : #if HAL_BUTTON_ENABLED
      24             : 
      25             : #include <AP_HAL/AP_HAL.h>
      26             : #include <AP_Param/AP_Param.h>
      27             : 
      28             : // allow buttons for up to 4 pins
      29             : #define AP_BUTTON_NUM_PINS 4
      30             : 
      31             : // how often we send reports
      32             : #define AP_BUTTON_REPORT_PERIOD_MS 1000
      33             : 
      34             : class AP_Button {
      35             : public:
      36             :     // constructor
      37             :     AP_Button(void);
      38             : 
      39             :     /* Do not allow copies */
      40             :     CLASS_NO_COPY(AP_Button);
      41             : 
      42             :     static const struct AP_Param::GroupInfo var_info[];
      43             : 
      44             :     // update button state and send messages, called periodically by main loop
      45             :     void update(void);
      46             : 
      47       66481 :     static AP_Button *get_singleton(void) {
      48       66481 :         return _singleton;
      49             :     }
      50             : 
      51             :     // get state of a button
      52             :     // used by scripting
      53             :     bool get_button_state(uint8_t number);
      54             : 
      55             :     // check settings are valid
      56             :     bool arming_checks(size_t buflen, char *buffer) const;
      57             :     
      58             : private:
      59             : 
      60             :     static AP_Button *_singleton;
      61             : 
      62             :     AP_Int8 enable;
      63             :     AP_Int8 pin[AP_BUTTON_NUM_PINS];
      64             :     AP_Int8 options[AP_BUTTON_NUM_PINS];  // if a pin's bit is set then it uses PWM assertion
      65             : 
      66      181139 :     bool is_pwm_input(uint8_t n) const {
      67      181139 :         return ((uint8_t)options[n].get() & (1U<<0)) != 0;
      68             :     }
      69          12 :     bool is_input_inverted(uint8_t n) const {
      70          12 :         return ((uint8_t)options[n].get() & (1U<<1)) != 0;
      71             :     }
      72             : 
      73             :     AP_Int16 pin_func[AP_BUTTON_NUM_PINS];  // from the RC_Channel functions
      74             : 
      75             :     // number of seconds to send change notifications
      76             :     AP_Int16 report_send_time;
      77             : 
      78             :     // last button press mask
      79             :     uint8_t last_mask;
      80             : 
      81             :     // debounced button press mask
      82             :     uint8_t debounce_mask;
      83             : 
      84             :     // current state of PWM pins:
      85             :     uint8_t pwm_state;
      86             :     uint8_t tentative_pwm_state;  // for debouncing
      87             :     uint64_t pwm_start_debounce_ms;
      88             : 
      89             :     // mask indicating which action was most recent taken for pins
      90             :     uint8_t state_actioned_mask;
      91             : 
      92             :     // pwm sources are used when using PWM on the input
      93             :     AP_HAL::PWMSource pwm_pin_source[AP_BUTTON_NUM_PINS];
      94             : 
      95             :     // state from the timer interrupt:
      96             :     HAL_Semaphore last_debounced_change_ms_sem;
      97             :     // last time GPIO pins were debounced:
      98             :     uint64_t last_debounced_change_ms;
      99             : 
     100             :     // time at least last debounce changes across both PWM and GPIO
     101             :     // pins was detected:
     102             :     uint64_t last_debounce_ms;
     103             : 
     104             :     // when the mask last changed
     105             :     uint64_t last_change_time_ms;
     106             : 
     107             :     // when button change events were last actioned
     108             :     uint64_t last_action_time_ms;
     109             : 
     110             :     // true if allocated aux functions have been initialised
     111             :     bool aux_functions_initialised;
     112             :     // call init_aux_function for all used functions
     113             :     void run_aux_functions(bool force);
     114             : 
     115             :     // time of last report
     116             :     uint32_t last_report_ms;
     117             : 
     118             :     // has the timer been installed?
     119             :     bool initialised;
     120             :     
     121             :     // called by timer thread
     122             :     void timer_update(void);
     123             : 
     124             :     // get current mask
     125             :     uint8_t get_mask(void);
     126             : 
     127             :     // send a BUTTON_CHANGE report
     128             :     void send_report(void) const;
     129             : 
     130             :     // setup pins as pullup input
     131             :     void setup_pins();
     132             : };
     133             : 
     134             : namespace AP {
     135             :     AP_Button &button();
     136             : };
     137             : 
     138             : #endif