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AP_RCProtocol: add support for non-inverted s-bus

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This commit is contained in:
Alexander Malishev 2018-05-24 02:00:16 +04:00 committed by Andrew Tridgell
parent 70cef2f61e
commit 47451be875
3 changed files with 34 additions and 0 deletions
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2
libraries/AP_RCProtocol/AP_RCProtocol.cpp
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@ -19,11 +19,13 @@
#include "AP_RCProtocol_PPMSum.h"
#include "AP_RCProtocol_DSM.h"
#include "AP_RCProtocol_SBUS.h"
#include "AP_RCProtocol_SBUS_NI.h"
void AP_RCProtocol::init()
{
backend[AP_RCProtocol::PPM] = new AP_RCProtocol_PPMSum(*this);
backend[AP_RCProtocol::SBUS] = new AP_RCProtocol_SBUS(*this);
backend[AP_RCProtocol::SBUS_NI] = new AP_RCProtocol_SBUS_NI(*this);
backend[AP_RCProtocol::DSM] = new AP_RCProtocol_DSM(*this);
}

1
libraries/AP_RCProtocol/AP_RCProtocol.h
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@ -27,6 +27,7 @@ public:
enum rcprotocol_t{
PPM = 0,
SBUS,
SBUS_NI,
DSM,
NONE //last enum always is None
};

31
libraries/AP_RCProtocol/AP_RCProtocol_SBUS_NI.h Normal file
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@ -0,0 +1,31 @@
/*
* 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"
#include "AP_RCProtocol_SBUS.h"
class AP_RCProtocol_SBUS_NI : public AP_RCProtocol_SBUS {
public:
AP_RCProtocol_SBUS_NI(AP_RCProtocol &_frontend) : AP_RCProtocol_SBUS(_frontend), saved_width(0) {}
void process_pulse(uint32_t width_s0, uint32_t width_s1) override {
AP_RCProtocol_SBUS::process_pulse(saved_width, width_s0);
saved_width = width_s1;
}
private:
uint32_t saved_width;
};