ardupilot/libraries/AP_HAL_Linux/RCInput_RCProtocol.h

52 lines
1.5 KiB
C++

/*
This program 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 program 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/>.
*/
/*
RC input system that uses libraries/AP_RCProtocol with UART based inputs
with either SBUS protocol or 115200 based protocols (or both)
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_RCProtocol/AP_RCProtocol.h>
#include "RCInput.h"
#include <stdarg.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
namespace Linux {
class RCInput_RCProtocol : public RCInput {
public:
RCInput_RCProtocol(const char *dev_sbus, const char *dev_115200);
void init() override;
void _timer_tick(void) override;
private:
int open_sbus(const char *path);
int open_115200(const char *path);
const char *dev_inverted;
const char *dev_115200;
int fd_inverted;
int fd_115200;
uint32_t last_frame_ms;
bool inverted_is_115200;
};
};
#endif