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31 lines
458 B
31 lines
458 B
#pragma once |
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#include <AP_Common/AP_Common.h> |
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#include "AP_HAL_Linux.h" |
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#include "RCInput.h" |
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#define CHANNELS 8 |
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namespace Linux { |
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class RCInput_UART : public RCInput |
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{ |
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public: |
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RCInput_UART(const char *path); |
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~RCInput_UART(); |
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void init() override; |
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void _timer_tick(void) override; |
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private: |
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int _fd; |
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uint8_t *_pdata; |
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ssize_t _remain; |
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struct { |
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uint16_t magic; |
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uint16_t values[CHANNELS]; |
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} _data; |
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}; |
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}
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