#include <RCInput.h>

Inheritance diagram for Linux::RCInput:

Collaboration diagram for Linux::RCInput:

Public Member Functions
	RCInput ()

virtual void	init ()

bool	new_input ()

uint8_t	num_channels ()

uint16_t	read (uint8_t ch)

uint8_t	read (uint16_t *periods, uint8_t len)

int16_t	get_rssi (void) override

bool	set_override (uint8_t channel, int16_t override)

void	clear_overrides ()

virtual void	_timer_tick ()

bool	add_dsm_input (const uint8_t *bytes, size_t nbytes)

void	add_sbus_input (const uint8_t *bytes, size_t nbytes)

bool	add_sumd_input (const uint8_t *bytes, size_t nbytes)

bool	add_st24_input (const uint8_t *bytes, size_t nbytes)

bool	add_srxl_input (const uint8_t *bytes, size_t nbytes)

Public Member Functions inherited from AP_HAL::RCInput
virtual void	teardown ()

virtual bool	rc_bind (int dsmMode)

Static Public Member Functions
static RCInput *	from (AP_HAL::RCInput *rcinput)

Protected Member Functions
void	_process_rc_pulse (uint16_t width_s0, uint16_t width_s1)

void	_update_periods (uint16_t *periods, uint8_t len)

void	_process_ppmsum_pulse (uint16_t width)

void	_process_sbus_pulse (uint16_t width_s0, uint16_t width_s1)

void	_process_dsm_pulse (uint16_t width_s0, uint16_t width_s1)

Protected Attributes
std::atomic< unsigned int >	rc_input_count

std::atomic< unsigned int >	last_rc_input_count

uint16_t	_pwm_values [LINUX_RC_INPUT_NUM_CHANNELS]

uint8_t	_num_channels

uint16_t	_override [LINUX_RC_INPUT_NUM_CHANNELS]

struct {
int8_t _channel_counter

uint16_t _pulse_capt [LINUX_RC_INPUT_NUM_CHANNELS]

}	ppm_state

struct {
uint16_t bytes [25]

uint16_t bit_ofs

}	sbus_state

struct {
uint16_t bytes [16]

uint16_t bit_ofs

}	dsm_state

struct {
uint8_t frame [16]

uint8_t partial_frame_count

uint32_t last_input_ms

}	dsm

struct {
uint8_t frame [25]

uint8_t partial_frame_count

uint32_t last_input_ms

}	sbus

int16_t	_rssi = -1

Detailed Description

Definition at line 11 of file RCInput.h.

Constructor & Destructor Documentation

◆ RCInput()

RCInput::RCInput ( )

Definition at line 28 of file RCInput.cpp.

Member Function Documentation

◆ _process_dsm_pulse()

void RCInput::_process_dsm_pulse	(	uint16_t	width_s0,
		uint16_t	width_s1
	)

protected

Definition at line 227 of file RCInput.cpp.

Referenced by _process_rc_pulse().

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◆ _process_ppmsum_pulse()

void RCInput::_process_ppmsum_pulse ( uint16_t width )

protected

Definition at line 95 of file RCInput.cpp.

Referenced by _process_rc_pulse().

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◆ _process_rc_pulse()

void RCInput::_process_rc_pulse	(	uint16_t	width_s0,
		uint16_t	width_s1
	)

protected

Definition at line 308 of file RCInput.cpp.

Referenced by Linux::RCInput_ZYNQ::_timer_tick(), Linux::RCInput_PRU::_timer_tick(), Linux::RCInput_AioPRU::_timer_tick(), _timer_tick(), and Linux::RCInput_RPI::_timer_tick().

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◆ _process_sbus_pulse()

void RCInput::_process_sbus_pulse	(	uint16_t	width_s0,
		uint16_t	width_s1
	)

protected

Definition at line 144 of file RCInput.cpp.

Referenced by _process_rc_pulse().

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◆ _timer_tick()

virtual void Linux::RCInput::_timer_tick ( void )

inlinevirtual

Reimplemented in Linux::RCInput_RPI, Linux::RCInput_AioPRU, Linux::RCInput_SoloLink, Linux::RCInput_115200, Linux::RCInput_Multi, Linux::RCInput_SBUS, Linux::RCInput_UART, Linux::RCInput_PRU, Linux::RCInput_UDP, Linux::RCInput_ZYNQ, and Linux::RCInput_Navio2.

Definition at line 34 of file RCInput.h.

Referenced by Linux::Scheduler::_rcin_task(), and Linux::RCInput_Multi::_timer_tick().

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◆ _update_periods()

void RCInput::_update_periods	(	uint16_t *	periods,
		uint8_t	len
	)

protected

Definition at line 333 of file RCInput.cpp.

Referenced by Linux::RCInput_Navio2::_timer_tick(), Linux::RCInput_UDP::_timer_tick(), Linux::RCInput_UART::_timer_tick(), Linux::RCInput_SoloLink::_timer_tick(), and _timer_tick().

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◆ add_dsm_input()

bool RCInput::add_dsm_input	(	const uint8_t *	bytes,
		size_t	nbytes
	)

Definition at line 349 of file RCInput.cpp.

Referenced by Linux::RCInput_115200::_timer_tick(), and _timer_tick().

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◆ add_sbus_input()

void RCInput::add_sbus_input	(	const uint8_t *	bytes,
		size_t	nbytes
	)

Definition at line 511 of file RCInput.cpp.

Referenced by Linux::RCInput_SBUS::_timer_tick(), and _timer_tick().

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◆ add_srxl_input()

bool RCInput::add_srxl_input	(	const uint8_t *	bytes,
		size_t	nbytes
	)

Definition at line 480 of file RCInput.cpp.

Referenced by Linux::RCInput_115200::_timer_tick(), and _timer_tick().

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◆ add_st24_input()

bool RCInput::add_st24_input	(	const uint8_t *	bytes,
		size_t	nbytes
	)

Definition at line 449 of file RCInput.cpp.

Referenced by Linux::RCInput_115200::_timer_tick(), and _timer_tick().

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◆ add_sumd_input()

bool RCInput::add_sumd_input	(	const uint8_t *	bytes,
		size_t	nbytes
	)

Definition at line 418 of file RCInput.cpp.

Referenced by Linux::RCInput_115200::_timer_tick(), and _timer_tick().

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◆ clear_overrides()

void RCInput::clear_overrides ( )

virtual

Implements AP_HAL::RCInput.

Definition at line 84 of file RCInput.cpp.

Referenced by get_rssi().

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◆ from()

static RCInput* Linux::RCInput::from ( AP_HAL::RCInput * rcinput )

inlinestatic

Definition at line 15 of file RCInput.h.

Referenced by Linux::Scheduler::_rcin_task().

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◆ get_rssi()

int16_t Linux::RCInput::get_rssi ( void )

inlineoverridevirtual

Reimplemented from AP_HAL::RCInput.

Definition at line 25 of file RCInput.h.

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◆ init()

void RCInput::init ( )

virtual

Call init from the platform hal instance init, so that both the type of the RCInput implementation and init argument (e.g. ISRRegistry) are known to the programmer. (It's too difficult to describe this dependency in the C++ type system.)

Implements AP_HAL::RCInput.

Reimplemented in Linux::RCInput_RPI, Linux::RCInput_AioPRU, Linux::RCInput_SoloLink, Linux::RCInput_115200, Linux::RCInput_Multi, Linux::RCInput_SBUS, Linux::RCInput_UART, Linux::RCInput_PRU, Linux::RCInput_UDP, Linux::RCInput_ZYNQ, and Linux::RCInput_Navio2.

Definition at line 33 of file RCInput.cpp.

Referenced by from(), and Linux::RCInput_Multi::init().

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◆ new_input()

bool RCInput::new_input ( )

virtual

Return true if there has been new input since the last call to new_input()

Implements AP_HAL::RCInput.

Definition at line 37 of file RCInput.cpp.

Referenced by Linux::RCInput_Multi::_timer_tick(), and from().

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◆ num_channels()

uint8_t RCInput::num_channels ( )

virtual

Return the number of valid channels in the last read

Implements AP_HAL::RCInput.

Definition at line 46 of file RCInput.cpp.

Referenced by Linux::RCInput_Multi::_timer_tick(), and from().

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◆ read() [1/2]

uint16_t RCInput::read ( uint8_t ch )

virtual

Implements AP_HAL::RCInput.

Definition at line 51 of file RCInput.cpp.

Referenced by Linux::RCInput_UART::_timer_tick(), Linux::RCInput_Multi::_timer_tick(), Linux::RCInput_SBUS::_timer_tick(), Linux::RCInput_115200::_timer_tick(), from(), and read().

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◆ read() [2/2]

uint8_t RCInput::read	(	uint16_t *	periods,
		uint8_t	len
	)

virtual

Implements AP_HAL::RCInput.

Definition at line 62 of file RCInput.cpp.

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◆ set_override()

bool RCInput::set_override	(	uint8_t	channel,
		int16_t	override
	)

virtual

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.

Implements AP_HAL::RCInput.

Definition at line 71 of file RCInput.cpp.

Referenced by get_rssi().

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Member Data Documentation

◆ _channel_counter

int8_t Linux::RCInput::_channel_counter

Definition at line 70 of file RCInput.h.

◆ _num_channels

uint8_t Linux::RCInput::_num_channels

protected

Definition at line 59 of file RCInput.h.

Referenced by _process_dsm_pulse(), _process_ppmsum_pulse(), _process_sbus_pulse(), Linux::RCInput_Multi::_timer_tick(), _update_periods(), add_dsm_input(), add_sbus_input(), add_srxl_input(), add_st24_input(), add_sumd_input(), num_channels(), and read().

◆ _override

uint16_t Linux::RCInput::_override[LINUX_RC_INPUT_NUM_CHANNELS]

protected

Definition at line 66 of file RCInput.h.

Referenced by clear_overrides(), read(), and set_override().

◆ _pulse_capt

uint16_t Linux::RCInput::_pulse_capt[LINUX_RC_INPUT_NUM_CHANNELS]

Definition at line 71 of file RCInput.h.

◆ _pwm_values

uint16_t Linux::RCInput::_pwm_values[LINUX_RC_INPUT_NUM_CHANNELS]

protected

Definition at line 58 of file RCInput.h.

Referenced by _process_dsm_pulse(), _process_ppmsum_pulse(), _process_sbus_pulse(), Linux::RCInput_Multi::_timer_tick(), _update_periods(), add_dsm_input(), add_sbus_input(), add_srxl_input(), add_st24_input(), add_sumd_input(), and read().

◆ _rssi

int16_t Linux::RCInput::_rssi = -1

protected

Definition at line 100 of file RCInput.h.

Referenced by add_st24_input(), add_sumd_input(), and get_rssi().

◆ bit_ofs

uint16_t Linux::RCInput::bit_ofs

Definition at line 77 of file RCInput.h.

Referenced by _process_dsm_pulse(), and _process_sbus_pulse().

◆ bytes

uint16_t Linux::RCInput::bytes[16]

Definition at line 76 of file RCInput.h.

Referenced by _process_dsm_pulse(), _process_sbus_pulse(), Linux::RCInput_115200::_timer_tick(), Linux::RCInput_SBUS::_timer_tick(), and _timer_tick().

◆ dsm

struct { ... } Linux::RCInput::dsm

Referenced by add_dsm_input().

◆ dsm_state

struct { ... } Linux::RCInput::dsm_state

Referenced by _process_dsm_pulse().

◆ frame

uint8_t Linux::RCInput::frame[25]

Definition at line 88 of file RCInput.h.

◆ last_input_ms

uint32_t Linux::RCInput::last_input_ms

Definition at line 90 of file RCInput.h.

◆ last_rc_input_count

std::atomic<unsigned int> Linux::RCInput::last_rc_input_count

protected

Definition at line 56 of file RCInput.h.

Referenced by new_input().

◆ partial_frame_count

uint8_t Linux::RCInput::partial_frame_count

Definition at line 89 of file RCInput.h.

◆ ppm_state

struct { ... } Linux::RCInput::ppm_state

Referenced by _process_ppmsum_pulse(), and RCInput().

◆ rc_input_count

std::atomic<unsigned int> Linux::RCInput::rc_input_count

protected

Definition at line 55 of file RCInput.h.

Referenced by _process_dsm_pulse(), _process_ppmsum_pulse(), _process_sbus_pulse(), Linux::RCInput_Multi::_timer_tick(), _update_periods(), add_dsm_input(), add_sbus_input(), add_srxl_input(), add_st24_input(), add_sumd_input(), new_input(), and set_override().

◆ sbus

struct { ... } Linux::RCInput::sbus

Referenced by add_sbus_input().

◆ sbus_state

struct { ... } Linux::RCInput::sbus_state

Referenced by _process_sbus_pulse().

The documentation for this class was generated from the following files:

libraries/AP_HAL_Linux/RCInput.h
libraries/AP_HAL_Linux/RCInput.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RCInput()

Member Function Documentation

◆ _process_dsm_pulse()

◆ _process_ppmsum_pulse()

◆ _process_rc_pulse()

◆ _process_sbus_pulse()

◆ _timer_tick()

◆ _update_periods()

◆ add_dsm_input()

◆ add_sbus_input()

◆ add_srxl_input()

◆ add_st24_input()

◆ add_sumd_input()

◆ clear_overrides()

◆ from()

◆ get_rssi()

◆ init()

◆ new_input()

◆ num_channels()

◆ read() [1/2]

◆ read() [2/2]

◆ set_override()

Member Data Documentation

◆ _channel_counter

◆ _num_channels

◆ _override

◆ _pulse_capt

◆ _pwm_values

◆ _rssi

◆ bit_ofs

◆ bytes

◆ dsm

◆ dsm_state

◆ frame

◆ last_input_ms

◆ last_rc_input_count

◆ partial_frame_count

◆ ppm_state

◆ rc_input_count

◆ sbus

◆ sbus_state