mirror of https://github.com/ArduPilot/ardupilot
62 lines
1.7 KiB
C++
62 lines
1.7 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Code by Andrew Tridgell and Siddharth Bharat Purohit
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Common/AP_Common.h>
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#define MAX_RCIN_CHANNELS 32
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#define MIN_RCIN_CHANNELS 5
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class AP_RCProtocol_Backend;
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class AP_RCProtocol {
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public:
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enum rcprotocol_t {
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PPM = 0,
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SBUS,
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SBUS_NI,
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DSM,
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SUMD,
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SRXL,
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ST24,
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NONE //last enum always is None
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};
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void init();
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bool valid_serial_prot()
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{
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return _valid_serial_prot;
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}
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void process_pulse(uint32_t width_s0, uint32_t width_s1);
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void process_byte(uint8_t byte);
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enum rcprotocol_t protocol_detected()
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{
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return _detected_protocol;
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}
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uint8_t num_channels();
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uint16_t read(uint8_t chan);
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bool new_input();
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void start_bind(void);
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private:
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enum rcprotocol_t _detected_protocol = NONE;
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AP_RCProtocol_Backend *backend[NONE];
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bool _new_input = false;
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uint32_t _last_input_ms;
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bool _valid_serial_prot = false;
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};
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#include "AP_RCProtocol_Backend.h"
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