ardupilot/libraries/AP_RCProtocol/AP_RCProtocol.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/>.
 * 
 * Code by Andrew Tridgell and Siddharth Bharat Purohit
 */
#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_Common/AP_Common.h>

#define MAX_RCIN_CHANNELS 16
#define MIN_RCIN_CHANNELS  5

class AP_RCProtocol_Backend;
class AP_RCProtocol {
public:
    enum rcprotocol_t{
        PPM = 0,
        SBUS,
        DSM,
        NONE    //last enum always is None
    };
    void init();
    void process_pulse(uint32_t width_s0, uint32_t width_s1);
    enum rcprotocol_t protocol_detected() { return _detected_protocol; }
    uint8_t num_channels();
    uint16_t read(uint8_t chan);
    bool new_input();
private:
    enum rcprotocol_t _detected_protocol = NONE;
    AP_RCProtocol_Backend *backend[NONE];
    uint8_t num_backends = NONE;
    bool _new_input = false;
    uint32_t _last_input_ms;
};

#include "AP_RCProtocol_Backend.h"