Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_HAL_Namespace.h"
       4             : 
       5             : #define RC_INPUT_MIN_PULSEWIDTH 900
       6             : #define RC_INPUT_MAX_PULSEWIDTH 2100
       7             : 
       8             : class AP_HAL::RCInput {
       9             : public:
      10             :     /**
      11             :      * Call init from the platform hal instance init, so that both the type of
      12             :      * the RCInput implementation and init argument (e.g. ISRRegistry) are
      13             :      * known to the programmer. (It's too difficult to describe this dependency
      14             :      * in the C++ type system.)
      15             :      */
      16             :     virtual void init() = 0;
      17           0 :     virtual void teardown() {};
      18             : 
      19             :     /**
      20             :      * Return true if there has been new input since the last call to new_input()
      21             :      */
      22             :     virtual bool new_input(void) = 0;
      23             : 
      24             :     /**
      25             :      * Return the number of valid channels in the last read
      26             :      */
      27             :     virtual uint8_t  num_channels() = 0;
      28             : 
      29             :     /* Read a single channel at a time */
      30             :     virtual uint16_t read(uint8_t ch) = 0;
      31             : 
      32             :     /* Read an array of channels, return the valid count */
      33             :     virtual uint8_t read(uint16_t* periods, uint8_t len) = 0;
      34             : 
      35             :     /* get receiver based RSSI if available. -1 for unknown, 0 for no link, 255 for maximum link */
      36           0 :     virtual int16_t get_rssi(void) { return -1; }
      37           0 :     virtual int16_t get_rx_link_quality(void) { return -1; }
      38             :     /* Return string describing method RC input protocol */
      39           0 :     virtual const char *protocol() const { return nullptr; }
      40             : 
      41             :     /**
      42             :      * Overrides: these are really grody and don't belong here but we need
      43             :      * them at the moment to make the port work.
      44             :      * case v of:
      45             :      *  v == -1 -> no change to this channel
      46             :      *  v == 0  -> do not override this channel
      47             :      *  v > 0   -> set v as override.
      48             :      */
      49             : 
      50             :     /* enable or disable pulse input for RC input. This is used to
      51             :        reduce load when we are decoding R/C via a UART */
      52           0 :     virtual void pulse_input_enable(bool enable) { }
      53             : };