RCInput.hpp

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#pragma once

#include <float.h>

#include <board_config.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_rc_input.h>
#include <lib/perf/perf_counter.h>
#include <lib/rc/crsf.h>
#include <lib/rc/dsm.h>
#include <lib/rc/sbus.h>
#include <lib/rc/st24.h>
#include <lib/rc/sumd.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/workqueue.h>
#include <uORB/Subscription.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/adc_report.h>
#include <uORB/topics/input_rc.h>
#include <uORB/topics/vehicle_command.h>

#include "crsf_telemetry.h"

#ifdef HRT_PPM_CHANNEL
# include <systemlib/ppm_decode.h>
#endif

class RCInput : public ModuleBase<RCInput>
{
public:

    RCInput(bool run_as_task, char *device);
    virtual ~RCInput();

    /** @see ModuleBase */
    static int task_spawn(int argc, char *argv[]);

    /** @see ModuleBase */
    static RCInput *instantiate(int argc, char *argv[]);

    /** @see ModuleBase */
    static int custom_command(int argc, char *argv[]);

    /** @see ModuleBase */
    static int print_usage(const char *reason = nullptr);

    /** @see ModuleBase::run() */
    void run() override;

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

    /** @see ModuleBase::print_status() */
    int print_status() override;

    int init();

private:
    enum RC_SCAN {
        RC_SCAN_PPM = 0,
        RC_SCAN_SBUS,
        RC_SCAN_DSM,
        RC_SCAN_SUMD,
        RC_SCAN_ST24,
        RC_SCAN_CRSF
    } _rc_scan_state{RC_SCAN_SBUS};

    static constexpr char const *RC_SCAN_STRING[6] {
        "PPM",
        "SBUS",
        "DSM",
        "SUMD",
        "ST24",
        "CRSF"
    };

    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};

    static struct work_s    _work;

    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

    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 void cycle_trampoline(void *arg);
    static void cycle_trampoline_init(void *arg);
    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);

};