#include <RCInput.hpp>

Inheritance diagram for RCInput:

Collaboration diagram for RCInput:

Public Member Functions
	RCInput (bool run_as_task, char *device)

virtual	~RCInput ()

void	run () override

void	cycle ()
	run the main loop: if running as task, continuously iterate, otherwise execute only one single cycle More...

int	print_status () override

int	init ()

Static Public Member Functions
static int	task_spawn (int argc, char *argv[])

static RCInput *	instantiate (int argc, char *argv[])

static int	custom_command (int argc, char *argv[])

static int	print_usage (const char *reason=nullptr)

Private Types
enum	RC_SCAN { RC_SCAN_PPM = 0, RC_SCAN_SBUS, RC_SCAN_DSM, RC_SCAN_SUMD, RC_SCAN_ST24, RC_SCAN_CRSF }

Private Member Functions
int	start ()

void	fill_rc_in (uint16_t raw_rc_count_local, uint16_t raw_rc_values_local[input_rc_s::RC_INPUT_MAX_CHANNELS], hrt_abstime now, bool frame_drop, bool failsafe, unsigned frame_drops, int rssi)

void	set_rc_scan_state (RC_SCAN _rc_scan_state)

void	rc_io_invert (bool invert)

Static Private Member Functions
static void	cycle_trampoline (void *arg)

static void	cycle_trampoline_init (void *arg)

Private Attributes
enum RCInput::RC_SCAN	RC_SCAN_SBUS

hrt_abstime	_rc_scan_begin {0}

bool	_rc_scan_locked {false}

bool	_report_lock {true}

unsigned	_current_update_interval {4000}

bool	_run_as_task {false}

uORB::Subscription	_vehicle_cmd_sub {ORB_ID(vehicle_command)}

uORB::Subscription	_adc_sub {ORB_ID(adc_report)}

input_rc_s	_rc_in {}

float	_analog_rc_rssi_volt {-1.0f}

bool	_analog_rc_rssi_stable {false}

uORB::PublicationMulti< input_rc_s >	_to_input_rc {ORB_ID(input_rc)}

int	_rcs_fd {-1}

char	_device [20] {}
	device / serial port path More...

uint8_t	_rcs_buf [SBUS_BUFFER_SIZE] {}

uint16_t	_raw_rc_values [input_rc_s::RC_INPUT_MAX_CHANNELS] {}

uint16_t	_raw_rc_count {}

CRSFTelemetry *	_crsf_telemetry {nullptr}

perf_counter_t	_cycle_perf

perf_counter_t	_publish_interval_perf

Static Private Attributes
static constexpr char const *	RC_SCAN_STRING [6]

static struct work_s	_work = {}

Detailed Description

Definition at line 64 of file RCInput.hpp.

Member Enumeration Documentation

◆ RC_SCAN

enum RCInput::RC_SCAN

private

Enumerator
RC_SCAN_PPM
RC_SCAN_SBUS
RC_SCAN_DSM
RC_SCAN_SUMD
RC_SCAN_ST24
RC_SCAN_CRSF

Definition at line 97 of file RCInput.hpp.

Constructor & Destructor Documentation

◆ RCInput()

RCInput::RCInput	(	bool	run_as_task,
		char *	device
	)

Definition at line 47 of file RCInput.cpp.

References _device, _raw_rc_values, _rc_in, input_rc_s::input_source, and input_rc_s::rc_lost.

Referenced by cycle_trampoline_init(), and instantiate().

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◆ ~RCInput()

RCInput::~RCInput ( )

virtual

Definition at line 72 of file RCInput.cpp.

References _crsf_telemetry, _cycle_perf, _publish_interval_perf, dsm_deinit(), and perf_free().

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Member Function Documentation

◆ custom_command()

int RCInput::custom_command	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 747 of file RCInput.cpp.

References DSMX8_BIND_PULSES, is_running(), print_usage(), and task_spawn().

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◆ cycle()

void RCInput::cycle ( )

run the main loop: if running as task, continuously iterate, otherwise execute only one single cycle

Definition at line 319 of file RCInput.cpp.

References _adc_sub, _analog_rc_rssi_stable, _analog_rc_rssi_volt, _crsf_telemetry, _current_update_interval, _cycle_perf, _device, _publish_interval_perf, _raw_rc_count, _raw_rc_values, _rc_in, _rc_scan_begin, _rc_scan_locked, _rcs_buf, _rcs_fd, _report_lock, _run_as_task, _to_input_rc, _vehicle_cmd_sub, adc_report_s::channel_id, adc_report_s::channel_value, vehicle_command_s::command, crsf_config(), crsf_parse(), cycle_trampoline(), DSM2_BIND_PULSES, DSM_CMD_BIND_POWER_DOWN, DSM_CMD_BIND_POWER_UP, DSM_CMD_BIND_REINIT_UART, DSM_CMD_BIND_SEND_PULSES, DSM_CMD_BIND_SET_RX_OUT, dsm_config(), dsm_parse(), DSMX8_BIND_PULSES, DSMX_BIND_PULSES, f(), fill_rc_in(), hrt_absolute_time(), hrt_abstime, input_rc_s::input_source, OK, vehicle_command_s::param1, vehicle_command_s::param2, perf_begin(), perf_count(), perf_end(), ppm_buffer, ppm_decoded_channels, ppm_frame_length, ppm_last_valid_decode, uORB::PublicationMulti< T >::publish(), RC_INPUT_RSSI_MAX, rc_io_invert(), input_rc_s::rc_lost, input_rc_s::rc_ppm_frame_length, RC_SCAN_CRSF, RC_SCAN_DSM, RC_SCAN_PPM, RC_SCAN_SBUS, RC_SCAN_ST24, RC_SCAN_SUMD, read(), SBUS_BUFFER_SIZE, sbus_config(), sbus_parse(), set_rc_scan_state(), st24_decode(), sumd_decode(), input_rc_s::timestamp_last_signal, CRSFTelemetry::update(), and uORB::Subscription::update().

Referenced by cycle_trampoline(), cycle_trampoline_init(), and run().

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◆ cycle_trampoline()

void RCInput::cycle_trampoline ( void * arg )

staticprivate

Definition at line 215 of file RCInput.cpp.

References cycle().

Referenced by cycle().

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◆ cycle_trampoline_init()

void RCInput::cycle_trampoline_init ( void * arg )

staticprivate

Definition at line 193 of file RCInput.cpp.

References cycle(), init(), and RCInput().

Referenced by task_spawn().

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◆ fill_rc_in()

void RCInput::fill_rc_in	(	uint16_t	raw_rc_count_local,
		uint16_t	raw_rc_values_local[input_rc_s::RC_INPUT_MAX_CHANNELS],
		hrt_abstime	now,
		bool	frame_drop,
		bool	failsafe,
		unsigned	frame_drops,
		int	rssi = `-1`
	)

private

Definition at line 222 of file RCInput.cpp.

References _analog_rc_rssi_stable, _analog_rc_rssi_volt, _device, _raw_rc_values, _rc_in, _rc_scan_begin, _rcs_fd, input_rc_s::channel_count, f(), input_rc_s::rc_failsafe, rc_io_invert(), input_rc_s::rc_lost, input_rc_s::rc_lost_frame_count, input_rc_s::rc_ppm_frame_length, input_rc_s::rc_total_frame_count, input_rc_s::rssi, set_rc_scan_state(), input_rc_s::timestamp, input_rc_s::timestamp_last_signal, and input_rc_s::values.

Referenced by cycle().

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◆ init()

int RCInput::init ( )

Definition at line 87 of file RCInput.cpp.

References _device, _rcs_fd, dsm_init(), and sbus_config().

Referenced by cycle_trampoline_init(), and run().

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◆ instantiate()

RCInput * RCInput::instantiate	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 741 of file RCInput.cpp.

References RCInput().

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◆ print_status()

int RCInput::print_status ( )

override

See also: ModuleBase::print_status()

Definition at line 771 of file RCInput.cpp.

References _analog_rc_rssi_volt, _crsf_telemetry, _current_update_interval, _cycle_perf, _device, _publish_interval_perf, _rc_in, _rc_scan_locked, _run_as_task, f(), hrt_elapsed_time(), perf_print_counter(), RC_SCAN_STRING, sbus_dropped_frames(), and input_rc_s::timestamp.

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◆ print_usage()

int RCInput::print_usage ( const char * reason = nullptr )

static

See also: ModuleBase

Definition at line 802 of file RCInput.cpp.

Referenced by custom_command().

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◆ rc_io_invert()

void RCInput::rc_io_invert ( bool invert )

private

Referenced by cycle(), and fill_rc_in().

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◆ run()

void RCInput::run ( )

override

See also: ModuleBase::run()

Definition at line 305 of file RCInput.cpp.

References cycle(), and init().

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◆ set_rc_scan_state()

void RCInput::set_rc_scan_state ( RC_SCAN _rc_scan_state )

private

Referenced by cycle(), and fill_rc_in().

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◆ start()

int RCInput::start ( )

private

◆ task_spawn()

int RCInput::task_spawn	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 121 of file RCInput.cpp.

References cycle_trampoline_init().

Referenced by custom_command().

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Member Data Documentation

◆ _adc_sub

uORB::Subscription RCInput::_adc_sub {ORB_ID(adc_report)}

private

Definition at line 127 of file RCInput.hpp.

Referenced by cycle().

◆ _analog_rc_rssi_stable

bool RCInput::_analog_rc_rssi_stable {false}

private

Definition at line 132 of file RCInput.hpp.

Referenced by cycle(), and fill_rc_in().

◆ _analog_rc_rssi_volt

float RCInput::_analog_rc_rssi_volt {-1.0f}

private

Definition at line 131 of file RCInput.hpp.

Referenced by cycle(), fill_rc_in(), and print_status().

◆ _crsf_telemetry

CRSFTelemetry* RCInput::_crsf_telemetry {nullptr}

private

Definition at line 144 of file RCInput.hpp.

Referenced by cycle(), print_status(), and ~RCInput().

◆ _current_update_interval

unsigned RCInput::_current_update_interval {4000}

private

Definition at line 120 of file RCInput.hpp.

Referenced by cycle(), and print_status().

◆ _cycle_perf

perf_counter_t RCInput::_cycle_perf

private

Definition at line 146 of file RCInput.hpp.

Referenced by cycle(), print_status(), and ~RCInput().

◆ _device

char RCInput::_device[20] {}

private

device / serial port path

Definition at line 137 of file RCInput.hpp.

Referenced by cycle(), fill_rc_in(), init(), print_status(), and RCInput().

◆ _publish_interval_perf

perf_counter_t RCInput::_publish_interval_perf

private

Definition at line 147 of file RCInput.hpp.

Referenced by cycle(), print_status(), and ~RCInput().

◆ _raw_rc_count

uint16_t RCInput::_raw_rc_count {}

private

Definition at line 142 of file RCInput.hpp.

Referenced by cycle().

◆ _raw_rc_values

uint16_t RCInput::_raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS] {}

private

Definition at line 141 of file RCInput.hpp.

Referenced by cycle(), fill_rc_in(), and RCInput().

◆ _rc_in

input_rc_s RCInput::_rc_in {}

private

Definition at line 129 of file RCInput.hpp.

Referenced by cycle(), fill_rc_in(), print_status(), and RCInput().

◆ _rc_scan_begin

hrt_abstime RCInput::_rc_scan_begin {0}

private

Definition at line 115 of file RCInput.hpp.

Referenced by cycle(), and fill_rc_in().

◆ _rc_scan_locked

bool RCInput::_rc_scan_locked {false}

private

Definition at line 117 of file RCInput.hpp.

Referenced by cycle(), and print_status().

◆ _rcs_buf

uint8_t RCInput::_rcs_buf[SBUS_BUFFER_SIZE] {}

private

Definition at line 139 of file RCInput.hpp.

Referenced by cycle().

◆ _rcs_fd

int RCInput::_rcs_fd {-1}

private

Definition at line 136 of file RCInput.hpp.

Referenced by cycle(), fill_rc_in(), and init().

◆ _report_lock

bool RCInput::_report_lock {true}

private

Definition at line 118 of file RCInput.hpp.

Referenced by cycle().

◆ _run_as_task

bool RCInput::_run_as_task {false}

private

Definition at line 122 of file RCInput.hpp.

Referenced by cycle(), and print_status().

◆ _to_input_rc

uORB::PublicationMulti<input_rc_s> RCInput::_to_input_rc {ORB_ID(input_rc)}

private

Definition at line 134 of file RCInput.hpp.

Referenced by cycle().

◆ _vehicle_cmd_sub

uORB::Subscription RCInput::_vehicle_cmd_sub {ORB_ID(vehicle_command)}

private

Definition at line 126 of file RCInput.hpp.

Referenced by cycle().

◆ _work

work_s RCInput::_work = {}

staticprivate

Definition at line 124 of file RCInput.hpp.

◆ RC_SCAN_SBUS

enum RCInput::RC_SCAN RCInput::RC_SCAN_SBUS

private

Referenced by cycle().

◆ RC_SCAN_STRING

constexpr char const * RCInput::RC_SCAN_STRING

staticprivate

Initial value:

{
        "PPM",
        "SBUS",
        "DSM",
        "SUMD",
        "ST24",
        "CRSF"
    }

Definition at line 106 of file RCInput.hpp.

Referenced by print_status().

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

src/drivers/rc_input/RCInput.hpp
src/drivers/rc_input/RCInput.cpp

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Enumeration Documentation

◆ RC_SCAN

Constructor & Destructor Documentation

◆ RCInput()

◆ ~RCInput()

Member Function Documentation

◆ custom_command()

◆ cycle()

◆ cycle_trampoline()

◆ cycle_trampoline_init()

◆ fill_rc_in()

◆ init()

◆ instantiate()

◆ print_status()

◆ print_usage()

◆ rc_io_invert()

◆ run()

◆ set_rc_scan_state()

◆ start()

◆ task_spawn()

Member Data Documentation

◆ _adc_sub

◆ _analog_rc_rssi_stable

◆ _analog_rc_rssi_volt

◆ _crsf_telemetry

◆ _current_update_interval

◆ _cycle_perf

◆ _device

◆ _publish_interval_perf

◆ _raw_rc_count

◆ _raw_rc_values

◆ _rc_in

◆ _rc_scan_begin

◆ _rc_scan_locked

◆ _rcs_buf

◆ _rcs_fd

◆ _report_lock

◆ _run_as_task

◆ _to_input_rc

◆ _vehicle_cmd_sub

◆ _work

◆ RC_SCAN_SBUS

◆ RC_SCAN_STRING