mirror of https://github.com/ArduPilot/ardupilot
33 lines
1.3 KiB
C
33 lines
1.3 KiB
C
|
/*
|
||
|
|
* 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_RCProtocol.h"
|
||
|
|
|
||
|
|
class AP_RCProtocol_SBUS : public AP_RCProtocol_Backend {
|
||
|
|
public:
|
||
|
|
AP_RCProtocol_SBUS(AP_RCProtocol &_frontend) : AP_RCProtocol_Backend(_frontend) {}
|
||
|
|
void process_pulse(uint32_t width_s0, uint32_t width_s1) override;
|
||
|
|
private:
|
||
|
|
bool sbus_decode(const uint8_t frame[25], uint16_t *values, uint16_t *num_values,
|
||
|
|
bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_values);
|
||
|
|
struct {
|
||
|
|
uint16_t bytes[25]; // including start bit, parity and stop bits
|
||
|
|
uint16_t bit_ofs;
|
||
|
|
} sbus_state;
|
||
|
|
};
|