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55 lines
1.4 KiB
55 lines
1.4 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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#pragma once |
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#include <AP_HAL/AP_HAL.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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#include "RCInput.h" |
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namespace Linux { |
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class RCInput_115200 : public RCInput |
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{ |
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public: |
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RCInput_115200(const char *device) : |
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device_path(device) {} |
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void init() override; |
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void _timer_tick(void) override; |
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void set_device_path(const char *path); |
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private: |
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const char *device_path; |
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int32_t fd = -1; |
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enum Decoders { |
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DECODER_DSM=0, |
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DECODER_ST24, |
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DECODER_SUMD, |
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DECODER_SRXL, |
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DECODER_SYNC |
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}; |
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enum Decoders decoder = DECODER_SYNC; |
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uint8_t dsm_count; |
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uint8_t st24_count; |
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uint32_t last_input_ms; |
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}; |
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} |
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#endif // CONFIG_HAL_BOARD_SUBTYPE
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