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52 lines
1.5 KiB
52 lines
1.5 KiB
/* |
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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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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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RC input system that uses libraries/AP_RCProtocol with UART based inputs |
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with either SBUS protocol or 115200 based protocols (or both) |
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*/ |
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#pragma once |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_RCProtocol/AP_RCProtocol.h> |
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#include "RCInput.h" |
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#include <stdarg.h> |
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \ |
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \ |
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV |
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namespace Linux { |
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class RCInput_RCProtocol : public RCInput { |
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public: |
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RCInput_RCProtocol(const char *dev_sbus, const char *dev_115200); |
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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 open_sbus(const char *path); |
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int open_115200(const char *path); |
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const char *dev_inverted; |
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const char *dev_115200; |
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int fd_inverted; |
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int fd_115200; |
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uint32_t last_frame_ms; |
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bool inverted_is_115200; |
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}; |
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}; |
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#endif
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