mirror of https://github.com/ArduPilot/ardupilot
42 lines
727 B
C
42 lines
727 B
C
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#pragma once
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#include "RC_parser.h"
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#include "RCInput.h"
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#include <AP_HAL/HAL.h>
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enum DSM_STATE {
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S_NONE,
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S_DSM,
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S_SUMD
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};
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class F4Light::DSM_parser : public F4Light::_parser {
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public:
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DSM_parser() {}
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void init(uint8_t ch);
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bool bind(int dsmMode) const override;
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private:
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static UARTDriver uartSDriver;
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void add_dsm_uart_input(); // add some DSM input bytes, for RCInput over a serial port
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void _io_completion();
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uint8_t _ioc;
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struct DSM { // state of add_dsm_uart_input
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uint8_t frame[16];
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uint8_t partial_frame_count;
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uint64_t last_input_ms;
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} dsm;
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enum DSM_STATE state;
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static void _rc_bind(uint16_t dsmMode);
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};
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