ardupilot/libraries/AP_RCProtocol/AP_RCProtocol.h

50 lines
1.5 KiB
C++

/*
* 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/>.
*
* Code by Andrew Tridgell and Siddharth Bharat Purohit
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_Common/AP_Common.h>
#define MAX_RCIN_CHANNELS 16
#define MIN_RCIN_CHANNELS 5
class AP_RCProtocol_Backend;
class AP_RCProtocol {
public:
enum rcprotocol_t{
PPM = 0,
SBUS,
SBUS_NI,
DSM,
NONE //last enum always is None
};
void init();
void process_pulse(uint32_t width_s0, uint32_t width_s1);
enum rcprotocol_t protocol_detected() { return _detected_protocol; }
uint8_t num_channels();
uint16_t read(uint8_t chan);
bool new_input();
void start_bind(void);
private:
enum rcprotocol_t _detected_protocol = NONE;
AP_RCProtocol_Backend *backend[NONE];
bool _new_input = false;
uint32_t _last_input_ms;
};
#include "AP_RCProtocol_Backend.h"