ardupilot/libraries/AP_HAL_F4Light/RC_DSM_parser.h

42 lines
727 B
C++

#pragma once
#include "RC_parser.h"
#include "RCInput.h"
#include <AP_HAL/HAL.h>
enum DSM_STATE {
S_NONE,
S_DSM,
S_SUMD
};
class F4Light::DSM_parser : public F4Light::_parser {
public:
DSM_parser() {}
void init(uint8_t ch);
bool bind(int dsmMode) const override;
private:
static UARTDriver uartSDriver;
void add_dsm_uart_input(); // add some DSM input bytes, for RCInput over a serial port
void _io_completion();
uint8_t _ioc;
struct DSM { // state of add_dsm_uart_input
uint8_t frame[16];
uint8_t partial_frame_count;
uint64_t last_input_ms;
} dsm;
enum DSM_STATE state;
static void _rc_bind(uint16_t dsmMode);
};