#include <RCInput_RPI.h>

Inheritance diagram for Linux::RCInput_RPI:

Collaboration diagram for Linux::RCInput_RPI:

Public Member Functions
void	init ()

void	_timer_tick (void)

	RCInput_RPI ()

	~RCInput_RPI ()

Public Member Functions inherited from Linux::RCInput
	RCInput ()

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 ()

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 bool	rc_bind (int dsmMode)

Private Member Functions
void	init_dma_cb (dma_cb_t **cbp, uint32_t mode, uint32_t source, uint32_t dest, uint32_t length, uint32_t stride, uint32_t next_cb)

void *	map_peripheral (uint32_t base, uint32_t len)

void	init_registers ()

void	init_ctrl_data ()

void	init_PCM ()

void	init_DMA ()

void	init_buffer ()

void	set_sigaction ()

void	set_physical_addresses (int version)

void	teardown () override

Static Private Member Functions
static void	stop_dma ()

static void	termination_handler (int signum)

Private Attributes
uint32_t	dma_base

uint32_t	clk_base

uint32_t	pcm_base

Memory_table *	circle_buffer

Memory_table *	con_blocks

uint64_t	curr_tick

uint64_t	prev_tick

uint64_t	delta_time

uint32_t	curr_tick_inc

uint32_t	curr_pointer

uint32_t	curr_channel

uint16_t	width_s0

uint16_t	width_s1

uint8_t	curr_signal

uint8_t	last_signal

bool	_initialized = false

state_t	state

AP_HAL::DigitalSource *	enable_pin

Static Private Attributes
static volatile uint32_t *	pcm_reg

static volatile uint32_t *	clk_reg

static volatile uint32_t *	dma_reg

Additional Inherited Members
Static Public Member Functions inherited from Linux::RCInput
static RCInput *	from (AP_HAL::RCInput *rcinput)

Protected Member Functions inherited from Linux::RCInput
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 inherited from Linux::RCInput
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 77 of file RCInput_RPI.h.

Constructor & Destructor Documentation

◆ RCInput_RPI()

RCInput_RPI::RCInput_RPI ( )

Definition at line 415 of file RCInput_RPI.cpp.

◆ ~RCInput_RPI()

RCInput_RPI::~RCInput_RPI ( )

Definition at line 430 of file RCInput_RPI.cpp.

Member Function Documentation

◆ _timer_tick()

void RCInput_RPI::_timer_tick ( void )

virtual

Reimplemented from Linux::RCInput.

Definition at line 487 of file RCInput_RPI.cpp.

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◆ init()

void RCInput_RPI::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.)

Reimplemented from Linux::RCInput.

Definition at line 449 of file RCInput_RPI.cpp.

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◆ init_buffer()

void Linux::RCInput_RPI::init_buffer ( )

private

◆ init_ctrl_data()

void RCInput_RPI::init_ctrl_data ( )

private

Definition at line 271 of file RCInput_RPI.cpp.

Referenced by _timer_tick(), and init().

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◆ init_DMA()

void RCInput_RPI::init_DMA ( )

private

Definition at line 374 of file RCInput_RPI.cpp.

Referenced by _timer_tick(), and init().

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◆ init_dma_cb()

void RCInput_RPI::init_dma_cb	(	dma_cb_t **	cbp,
		uint32_t	mode,
		uint32_t	source,
		uint32_t	dest,
		uint32_t	length,
		uint32_t	stride,
		uint32_t	next_cb
	)

private

Definition at line 247 of file RCInput_RPI.cpp.

◆ init_PCM()

void RCInput_RPI::init_PCM ( )

private

Definition at line 346 of file RCInput_RPI.cpp.

Referenced by _timer_tick(), and init().

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◆ init_registers()

void RCInput_RPI::init_registers ( )

private

Definition at line 442 of file RCInput_RPI.cpp.

Referenced by init().

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◆ map_peripheral()

void * RCInput_RPI::map_peripheral	(	uint32_t	base,
		uint32_t	len
	)

private

Definition at line 228 of file RCInput_RPI.cpp.

Referenced by init_registers().

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◆ set_physical_addresses()

void RCInput_RPI::set_physical_addresses ( int version )

private

Definition at line 214 of file RCInput_RPI.cpp.

Referenced by init().

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◆ set_sigaction()

void RCInput_RPI::set_sigaction ( )

private

Definition at line 386 of file RCInput_RPI.cpp.

Referenced by init().

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◆ stop_dma()

void RCInput_RPI::stop_dma ( )

staticprivate

Definition at line 257 of file RCInput_RPI.cpp.

Referenced by teardown().

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◆ teardown()

void RCInput_RPI::teardown ( )

overrideprivatevirtual

Reimplemented from AP_HAL::RCInput.

Definition at line 436 of file RCInput_RPI.cpp.

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◆ termination_handler()

void RCInput_RPI::termination_handler ( int signum )

staticprivate

Definition at line 263 of file RCInput_RPI.cpp.

Referenced by set_sigaction().

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Member Data Documentation

◆ _initialized

bool Linux::RCInput_RPI::_initialized = false

private

Definition at line 114 of file RCInput_RPI.h.

Referenced by _timer_tick(), and init().

◆ circle_buffer

Memory_table* Linux::RCInput_RPI::circle_buffer

private

Definition at line 97 of file RCInput_RPI.h.

Referenced by _timer_tick(), init(), and ~RCInput_RPI().

◆ clk_base

uint32_t Linux::RCInput_RPI::clk_base

private

Definition at line 89 of file RCInput_RPI.h.

Referenced by init_registers().

◆ clk_reg

volatile uint32_t * RCInput_RPI::clk_reg

staticprivate

Definition at line 94 of file RCInput_RPI.h.

Referenced by init_registers().

◆ con_blocks

Memory_table* Linux::RCInput_RPI::con_blocks

private

Definition at line 98 of file RCInput_RPI.h.

Referenced by _timer_tick(), init(), RCInput_RPI(), and ~RCInput_RPI().

◆ curr_channel

uint32_t Linux::RCInput_RPI::curr_channel

private

Definition at line 106 of file RCInput_RPI.h.

Referenced by RCInput_RPI().

◆ curr_pointer

uint32_t Linux::RCInput_RPI::curr_pointer

private

Definition at line 105 of file RCInput_RPI.h.

Referenced by _timer_tick(), init(), and RCInput_RPI().

◆ curr_signal

uint8_t Linux::RCInput_RPI::curr_signal

private

Definition at line 111 of file RCInput_RPI.h.

Referenced by _timer_tick(), init(), and RCInput_RPI().

◆ curr_tick

uint64_t Linux::RCInput_RPI::curr_tick

private

Definition at line 100 of file RCInput_RPI.h.

Referenced by _timer_tick(), and init().

◆ curr_tick_inc

uint32_t Linux::RCInput_RPI::curr_tick_inc

private

Definition at line 104 of file RCInput_RPI.h.

Referenced by _timer_tick(), and RCInput_RPI().

◆ delta_time

uint64_t Linux::RCInput_RPI::delta_time

private

Definition at line 102 of file RCInput_RPI.h.

Referenced by _timer_tick(), and RCInput_RPI().

◆ dma_base

uint32_t Linux::RCInput_RPI::dma_base

private

Definition at line 88 of file RCInput_RPI.h.

Referenced by init_registers().

◆ dma_reg

volatile uint32_t * RCInput_RPI::dma_reg

staticprivate

Definition at line 95 of file RCInput_RPI.h.

Referenced by _timer_tick(), and init_registers().

◆ enable_pin

AP_HAL::DigitalSource* Linux::RCInput_RPI::enable_pin

private

Definition at line 118 of file RCInput_RPI.h.

Referenced by init().

◆ last_signal

uint8_t Linux::RCInput_RPI::last_signal

private

Definition at line 112 of file RCInput_RPI.h.

Referenced by _timer_tick(), init(), and RCInput_RPI().

◆ pcm_base

uint32_t Linux::RCInput_RPI::pcm_base

private

Definition at line 90 of file RCInput_RPI.h.

Referenced by init_registers().

◆ pcm_reg

volatile uint32_t * RCInput_RPI::pcm_reg

staticprivate

Definition at line 93 of file RCInput_RPI.h.

Referenced by init_registers().

◆ prev_tick

uint64_t Linux::RCInput_RPI::prev_tick

private

Definition at line 101 of file RCInput_RPI.h.

Referenced by _timer_tick(), init(), and RCInput_RPI().

◆ state

state_t Linux::RCInput_RPI::state

private

Definition at line 116 of file RCInput_RPI.h.

Referenced by _timer_tick(), and RCInput_RPI().

◆ width_s0

uint16_t Linux::RCInput_RPI::width_s0

private

Definition at line 108 of file RCInput_RPI.h.

Referenced by _timer_tick(), and RCInput_RPI().

◆ width_s1

uint16_t Linux::RCInput_RPI::width_s1

private

Definition at line 109 of file RCInput_RPI.h.

Referenced by _timer_tick().

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

libraries/AP_HAL_Linux/RCInput_RPI.h
libraries/AP_HAL_Linux/RCInput_RPI.cpp

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RCInput_RPI()

◆ ~RCInput_RPI()

Member Function Documentation

◆ _timer_tick()

◆ init()

◆ init_buffer()

◆ init_ctrl_data()

◆ init_DMA()

◆ init_dma_cb()

◆ init_PCM()

◆ init_registers()

◆ map_peripheral()

◆ set_physical_addresses()

◆ set_sigaction()

◆ stop_dma()

◆ teardown()

◆ termination_handler()

Member Data Documentation

◆ _initialized

◆ circle_buffer

◆ clk_base

◆ clk_reg

◆ con_blocks

◆ curr_channel

◆ curr_pointer

◆ curr_signal

◆ curr_tick

◆ curr_tick_inc

◆ delta_time

◆ dma_base

◆ dma_reg

◆ enable_pin

◆ last_signal

◆ pcm_base

◆ pcm_reg

◆ prev_tick

◆ state

◆ width_s0

◆ width_s1