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829b8b83f6
This allows the GCS to emulate a receiver device via the
telemetry link.
Select "GCS" as your input type in the manualcontrol config
screen and calibrate it as normal.
Note: The expected values for the channels are in microseconds
just like a PWM or PPM input device. The channel values
are validated against minimum/maximum pulse lengths just
like normal receivers.
76 lines
2.1 KiB
C
76 lines
2.1 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_GCSRCVR GCS Receiver Input Functions
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* @brief Code to read the channels within the GCS Receiver UAVObject
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* @{
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*
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* @file pios_gcsrcvr.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief GCS Input functions (STM32 dependent)
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/* Project Includes */
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#include "pios.h"
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#if defined(PIOS_INCLUDE_GCSRCVR)
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#include "pios_gcsrcvr_priv.h"
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static GCSReceiverData gcsreceiverdata;
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/* Provide a RCVR driver */
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static int32_t PIOS_GCSRCVR_Get(uint32_t rcvr_id, uint8_t channel);
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const struct pios_rcvr_driver pios_gcsrcvr_rcvr_driver = {
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.read = PIOS_GCSRCVR_Get,
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};
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static void gcsreceiver_updated(UAVObjEvent * ev)
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{
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if (ev->obj == GCSReceiverHandle()) {
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GCSReceiverGet(&gcsreceiverdata);
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}
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}
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void PIOS_GCSRCVR_Init(void)
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{
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/* Register uavobj callback */
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GCSReceiverConnectCallback (gcsreceiver_updated);
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}
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static int32_t PIOS_GCSRCVR_Get(uint32_t rcvr_id, uint8_t channel)
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{
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if (channel >= GCSRECEIVER_CHANNEL_NUMELEM) {
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/* channel is out of range */
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return -1;
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}
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return (gcsreceiverdata.Channel[channel]);
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}
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#endif /* PIOS_INCLUDE_GCSRCVR */
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/**
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* @}
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* @}
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*/
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