mirror of https://github.com/ArduPilot/ardupilot
56 lines
1.4 KiB
C++
56 lines
1.4 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
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#include "RCInput.h"
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namespace Linux {
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class RCInput_115200 : public RCInput
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{
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public:
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RCInput_115200(const char *device) :
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device_path(device) {}
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void init() override;
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void _timer_tick(void) override;
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void set_device_path(const char *path);
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private:
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const char *device_path;
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int32_t fd = -1;
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enum Decoders {
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DECODER_DSM=0,
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DECODER_ST24,
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DECODER_SUMD,
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DECODER_SRXL,
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DECODER_SYNC
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};
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enum Decoders decoder = DECODER_SYNC;
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uint8_t dsm_count;
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uint8_t st24_count;
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uint32_t last_input_ms;
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};
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}
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#endif // CONFIG_HAL_BOARD_SUBTYPE
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