You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
61 lines
1.7 KiB
61 lines
1.7 KiB
/* |
|
* This file is free software: you can redistribute it and/or modify it |
|
* under the terms of the GNU General Public License as published by the |
|
* Free Software Foundation, either version 3 of the License, or |
|
* (at your option) any later version. |
|
* |
|
* This file is distributed in the hope that it will be useful, but |
|
* WITHOUT ANY WARRANTY; without even the implied warranty of |
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
|
* See the GNU General Public License for more details. |
|
* |
|
* You should have received a copy of the GNU General Public License along |
|
* with this program. If not, see <http://www.gnu.org/licenses/>. |
|
* |
|
* Code by Andrew Tridgell and Siddharth Bharat Purohit |
|
*/ |
|
#pragma once |
|
#include <AP_HAL/AP_HAL.h> |
|
#include <AP_Common/AP_Common.h> |
|
|
|
#define MAX_RCIN_CHANNELS 32 |
|
#define MIN_RCIN_CHANNELS 5 |
|
|
|
class AP_RCProtocol_Backend; |
|
class AP_RCProtocol { |
|
public: |
|
enum rcprotocol_t { |
|
PPM = 0, |
|
SBUS, |
|
SBUS_NI, |
|
DSM, |
|
SUMD, |
|
SRXL, |
|
ST24, |
|
NONE //last enum always is None |
|
}; |
|
void init(); |
|
bool valid_serial_prot() |
|
{ |
|
return _valid_serial_prot; |
|
} |
|
void process_pulse(uint32_t width_s0, uint32_t width_s1); |
|
void process_byte(uint8_t byte); |
|
enum rcprotocol_t protocol_detected() |
|
{ |
|
return _detected_protocol; |
|
} |
|
uint8_t num_channels(); |
|
uint16_t read(uint8_t chan); |
|
bool new_input(); |
|
void start_bind(void); |
|
|
|
private: |
|
enum rcprotocol_t _detected_protocol = NONE; |
|
AP_RCProtocol_Backend *backend[NONE]; |
|
bool _new_input = false; |
|
uint32_t _last_input_ms; |
|
bool _valid_serial_prot = false; |
|
}; |
|
|
|
#include "AP_RCProtocol_Backend.h"
|
|
|