ardupilot/libraries/AP_RCProtocol/AP_RCProtocol_SBUS.h

43 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_RCProtocol.h"
#include "SoftSerial.h"
class AP_RCProtocol_SBUS : public AP_RCProtocol_Backend {
public:
AP_RCProtocol_SBUS(AP_RCProtocol &_frontend, bool inverted);
void process_pulse(uint32_t width_s0, uint32_t width_s1) override;
void process_byte(uint8_t byte, uint32_t baudrate) override;
private:
void _process_byte(uint32_t timestamp_us, uint8_t byte);
bool sbus_decode(const uint8_t frame[25], uint16_t *values, uint16_t *num_values,
bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_values);
bool inverted;
SoftSerial ss{100000, SoftSerial::SERIAL_CONFIG_8E2I};
uint32_t saved_width;
struct {
uint8_t buf[25];
uint8_t ofs;
uint32_t last_byte_us;
} byte_input;
};