ardupilot/libraries/AP_RCProtocol/AP_RCProtocol_IBUS.h

/*
 * 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/>.
 *
 */

#pragma once

#include "AP_RCProtocol_config.h"

#if AP_RCPROTOCOL_IBUS_ENABLED

#define IBUS_FRAME_SIZE		32
#define IBUS_INPUT_CHANNELS	14

#include "AP_RCProtocol_Backend.h"

#include "SoftSerial.h"

class AP_RCProtocol_IBUS : public AP_RCProtocol_Backend
{
public:
    using AP_RCProtocol_Backend::AP_RCProtocol_Backend;

    void process_pulse(uint32_t width_s0, uint32_t width_s1) override;
    void process_byte(uint8_t byte, uint32_t baudrate) override;
private:
    void _process_byte(uint32_t timestamp_us, uint8_t byte);
    bool ibus_decode(const uint8_t frame[IBUS_FRAME_SIZE], uint16_t *values, bool *ibus_failsafe);

    SoftSerial ss{115200, SoftSerial::SERIAL_CONFIG_8N1};

    struct {
        uint8_t buf[IBUS_FRAME_SIZE];
        uint8_t ofs;
        uint32_t last_byte_us;
    } byte_input;
};

#endif  // AP_RCPROTOCOL_IBUS_ENABLED