mirror of https://github.com/ArduPilot/ardupilot
51 lines
1.5 KiB
C
51 lines
1.5 KiB
C
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/*
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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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#pragma once
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#include "AP_RCProtocol.h"
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class SoftSerial {
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public:
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enum serial_config {
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SERIAL_CONFIG_8N1, // DSM, SRXL etc, 8 bit, no parity, 1 stop bit
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SERIAL_CONFIG_8E2I, // SBUS, 8 bit, even parity, 2 stop bits, inverted
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};
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SoftSerial(uint32_t baudrate, enum serial_config config);
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bool process_pulse(uint32_t width_s0, uint32_t width_s1, uint8_t &b);
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// get timestamp of the last byte
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uint32_t get_byte_timestamp_us(void) const {
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return byte_timestamp_us;
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}
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private:
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const uint32_t baudrate;
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const uint8_t half_bit; // width of half a bit in microseconds
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const enum serial_config config;
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uint8_t data_width;
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uint8_t byte_width;
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uint16_t stop_mask;
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uint32_t timestamp_us;
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uint32_t byte_timestamp_us;
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struct {
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uint32_t byte;
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uint16_t bit_ofs;
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} state;
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};
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