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https://github.com/ArduPilot/ardupilot
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f99f9741fb
.... which will allow periphs to instantiate this if they really feel like it, and for it to be removed on smaller boards on the custom build server (and potentially on lower-specced boards.
44 lines
754 B
C++
44 lines
754 B
C++
/*
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* AP_SBusOut.h
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*
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* Created on: Aug 19, 2017
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* Author: Mark Whitehorn
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*/
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#pragma once
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#include "AP_SBusOut_config.h"
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#if AP_SBUSOUTPUT_ENABLED
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Param/AP_Param.h>
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class AP_SBusOut {
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public:
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AP_SBusOut();
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/* Do not allow copies */
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CLASS_NO_COPY(AP_SBusOut);
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static const struct AP_Param::GroupInfo var_info[];
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void update();
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// public format function for use by IOMCU
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static void sbus_format_frame(uint16_t *channels, uint8_t num_channels, uint8_t buffer[25]);
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private:
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AP_HAL::UARTDriver *sbus1_uart;
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void init(void);
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uint16_t sbus_frame_interval; // microseconds
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AP_Int16 sbus_rate;
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bool initialised;
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};
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#endif // AP_SBUSOUTPUT_ENABLED
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