ardupilot/libraries/AP_HAL_Linux/RCInput_115200.h

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/*
This program 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 program 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_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
#include "RCInput.h"
namespace Linux {
class RCInput_115200 : public RCInput
{
public:
RCInput_115200(const char *device) :
device_path(device) {}
void init() override;
void _timer_tick(void) override;
void set_device_path(const char *path);
private:
const char *device_path;
int32_t fd = -1;
enum Decoders {
DECODER_DSM=0,
DECODER_ST24,
DECODER_SUMD,
DECODER_SRXL,
DECODER_SYNC
};
enum Decoders decoder = DECODER_SYNC;
uint8_t dsm_count;
uint8_t st24_count;
uint32_t last_input_ms;
};
}
#endif // CONFIG_HAL_BOARD_SUBTYPE