mirror of https://github.com/ArduPilot/ardupilot
72 lines
1.4 KiB
C++
72 lines
1.4 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include "AP_HAL_F4Light.h"
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#include "UARTDriver.h"
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#include <usart.h>
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#include "RC_parser.h"
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#include "Config.h"
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#include "c++.h"
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#define BOARD_RC_FAILSAFE 2 // flag that failsafe is enabled
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#define RC_DEAD_TIME 60000 // 60 seconds no data changes
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#ifndef BOARD_SPEKTRUM_RX_PIN
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#ifdef BOARD_DSM_USART
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#define BOARD_SPEKTRUM_RX_PIN (BOARD_DSM_USART->rx_pin)
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#endif
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#endif
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enum BOARD_RC_MODE {
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BOARD_RC_NONE = 0,
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BOARD_RC_SBUS = 1,
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BOARD_RC_DSM = 2,
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BOARD_RC_SUMD = 4,
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BOARD_RC_SBUS_NI = 8,
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};
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#define MAX_RC_PARSERS 6
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class F4Light::RCInput : public AP_HAL::RCInput {
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public:
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RCInput();
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void init() override;
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static void late_init(uint8_t b);
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uint16_t read(uint8_t ch) override;
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uint8_t read(uint16_t* periods, uint8_t len) override;
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bool new_input() override;
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uint8_t num_channels() override;
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bool rc_bind(int dsmMode) override;
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static uint16_t max_num_pulses; // for statistics
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private:
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static _parser * parsers[MAX_RC_PARSERS];
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static uint8_t num_parsers;
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static uint8_t _last_read_from;
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static bool is_PPM;
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static uint64_t _last_read;
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static uint8_t _valid_channels;
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uint16_t _read_dsm(uint8_t ch);
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uint16_t _read_ppm(uint8_t ch,uint8_t n);
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static uint16_t last_4;
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static bool rc_failsafe_enabled;
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static bool fs_flag, aibao_fs_flag;
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};
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