mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-08 17:08:28 -04:00
20e209120f
We are using a microcontroller to read the PWM input from RC. The read values are sent to our board using a simple serial protocol through the UART interface. This patch interprets these values and passes them forward to the APM.
32 lines
507 B
C++
32 lines
507 B
C++
#pragma once
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#include <AP_Common/AP_Common.h>
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#include "AP_HAL_Linux.h"
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#include "RCInput.h"
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#define CHANNELS 8
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class Linux::RCInput_UART : public Linux::RCInput
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{
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public:
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RCInput_UART(const char *path);
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~RCInput_UART();
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void init(void*) override;
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void _timer_tick(void) override;
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private:
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uint8_t _count;
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int8_t _direction;
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int _fd;
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uint8_t *_pdata;
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ssize_t _remain;
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struct PACKED {
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uint16_t magic;
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uint16_t values[CHANNELS];
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} _data;
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};
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