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43 lines
1.5 KiB
43 lines
1.5 KiB
/* |
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* This file is free software: you can redistribute it and/or modify it |
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* under the terms of the GNU General Public License as published by the |
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* 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 file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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* See the GNU General Public License 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, see <http://www.gnu.org/licenses/>. |
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* |
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* Code by Andrew Tridgell and Siddharth Bharat Purohit |
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*/ |
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#pragma once |
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#include "AP_RCProtocol.h" |
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#include "SoftSerial.h" |
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class AP_RCProtocol_SBUS : public AP_RCProtocol_Backend { |
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public: |
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AP_RCProtocol_SBUS(AP_RCProtocol &_frontend, bool inverted, uint32_t configured_baud); |
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void process_pulse(uint32_t width_s0, uint32_t width_s1) override; |
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void process_byte(uint8_t byte, uint32_t baudrate) override; |
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private: |
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void _process_byte(uint32_t timestamp_us, uint8_t byte); |
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bool sbus_decode(const uint8_t frame[25], uint16_t *values, uint16_t *num_values, |
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bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_values); |
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bool inverted; |
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SoftSerial ss; |
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uint32_t saved_width; |
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struct { |
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uint8_t buf[25]; |
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uint8_t ofs; |
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uint32_t last_byte_us; |
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} byte_input; |
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};
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