ardupilot/libraries/AP_RCProtocol/SoftSerial.h

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/*
* 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/>.
*/
#pragma once
#include "AP_RCProtocol.h"
class SoftSerial {
public:
enum serial_config {
SERIAL_CONFIG_8N1 = 0, // DSM, SRXL etc, 8 bit, no parity, 1 stop bit
SERIAL_CONFIG_8E2I = 1, // SBUS, 8 bit, even parity, 2 stop bits, inverted
SERIAL_CONFIG_8N1I = 2, // FPort inverted, 8 bit, no parity, 1 stop bit
};
SoftSerial(uint32_t baudrate, enum serial_config config);
bool process_pulse(uint32_t width_s0, uint32_t width_s1, uint8_t &b);
// get timestamp of the last byte
uint32_t get_byte_timestamp_us(void) const {
return byte_timestamp_us;
}
uint32_t baud() const { return baudrate; }
private:
const uint32_t baudrate;
const uint8_t half_bit; // width of half a bit in microseconds
const enum serial_config config;
uint8_t data_width;
uint8_t byte_width;
uint16_t stop_mask;
uint32_t timestamp_us;
uint32_t byte_timestamp_us;
struct {
uint32_t byte;
uint16_t bit_ofs;
} state;
};