mirror of https://github.com/ArduPilot/ardupilot
29 lines
595 B
C
29 lines
595 B
C
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#pragma once
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#include "AP_HAL_QURT.h"
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#include <AP_RCProtocol/AP_RCProtocol.h>
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#ifndef RC_INPUT_MAX_CHANNELS
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#define RC_INPUT_MAX_CHANNELS 18
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#endif
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class QURT::RCInput : public AP_HAL::RCInput
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{
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public:
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void init() override;
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bool new_input() override;
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uint8_t num_channels() override;
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uint16_t read(uint8_t ch) override;
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uint8_t read(uint16_t* periods, uint8_t len) override;
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const char *protocol() const override;
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void _timer_tick(void);
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private:
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HAL_Semaphore mutex;
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uint16_t values[RC_INPUT_MAX_CHANNELS];
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uint8_t num_chan;
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bool updated;
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};
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