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65 lines
1.9 KiB
65 lines
1.9 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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class AP_RCProtocol_Backend { |
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friend class AP_RCProtcol; |
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public: |
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AP_RCProtocol_Backend(AP_RCProtocol &_frontend); |
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virtual ~AP_RCProtocol_Backend() {} |
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virtual void process_pulse(uint32_t width_s0, uint32_t width_s1) {} |
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virtual void process_byte(uint8_t byte, uint32_t baudrate) {} |
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uint16_t read(uint8_t chan); |
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bool new_input(); |
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uint8_t num_channels(); |
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// support for receivers that have FC initiated bind support |
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virtual void start_bind(void) {} |
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// allow for backends that need regular polling |
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virtual void update(void) {} |
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enum { |
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PARSE_TYPE_SIGREAD, |
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PARSE_TYPE_SERIAL |
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}; |
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// get number of frames, ignoring failsafe |
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uint32_t get_rc_frame_count(void) const { |
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return rc_frame_count; |
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} |
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// get number of frames, honoring failsafe |
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uint32_t get_rc_input_count(void) const { |
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return rc_input_count; |
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} |
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protected: |
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void add_input(uint8_t num_channels, uint16_t *values, bool in_failsafe); |
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private: |
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AP_RCProtocol &frontend; |
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uint32_t rc_input_count; |
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uint32_t last_rc_input_count; |
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uint32_t rc_frame_count; |
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uint16_t _pwm_values[MAX_RCIN_CHANNELS]; |
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uint8_t _num_channels; |
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};
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