px4fmu move RC input to new rc_input driver

2026-10-27 21:33:34 +08:00 · 2018-07-30 10:32:56 -04:00
parent 4e05f26659
commit 658237f36a
21 changed files with 1027 additions and 640 deletions
@@ -0,0 +1,91 @@
+/****************************************************************************
+ *
+ *	Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *	notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *	notice, this list of conditions and the following disclaimer in
+ *	the documentation and/or other materials provided with the
+ *	distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *	used to endorse or promote products derived from this software
+ *	without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file crsf_telemetry.h
+ *
+ * @author Beat Küng <beat-kueng@gmx.net>
+ */
+
+#pragma once
+
+#include <uORB/topics/battery_status.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_gps_position.h>
+#include <uORB/topics/vehicle_status.h>
+#include <drivers/drv_hrt.h>
+
+#include <matrix/math.hpp>
+#include <mathlib/mathlib.h>
+
+using namespace time_literals;
+
+/**
+ * High-level class that handles sending of CRSF telemetry data
+ */
+class CRSFTelemetry
+{
+public:
+	/**
+	 * @param uart_fd file descriptor for the UART to use. It is expected to be configured
+	 * already.
+	 */
+	CRSFTelemetry(int uart_fd);
+
+	~CRSFTelemetry();
+
+	/**
+	 * Send telemetry data. Call this regularly (i.e. at 100Hz), it will automatically
+	 * limit the sending rate.
+	 * @return true if new data sent
+	 */
+	bool update(const hrt_abstime &now);
+
+private:
+	bool send_battery();
+	bool send_gps();
+	bool send_attitude();
+	bool send_flight_mode();
+
+	int _vehicle_gps_position_sub;
+	int _battery_status_sub;
+	int _vehicle_attitude_sub;
+	int _vehicle_status_sub;
+
+	hrt_abstime _last_update{0};
+
+	static constexpr int num_data_types{4}; ///< number of different telemetry data types
+	int _next_type{0};
+
+	int _uart_fd;
+};