SBUSのcppとhppだけ(フォーク)
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
SBUS.hpp@2:3241f9311a0e, 2021-03-03 (annotated)
- Committer:
- NaotoMorita
- Date:
- Wed Mar 03 03:32:30 2021 +0000
- Revision:
- 2:3241f9311a0e
- Parent:
- 1:b2a305158f89
quaterinon attitude determination
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
surpace0924 | 0:072c4589bc62 | 1 | #ifndef _SBUS_ |
surpace0924 | 0:072c4589bc62 | 2 | #define _SBUS_ |
surpace0924 | 0:072c4589bc62 | 3 | #define _SBUS_ |
surpace0924 | 0:072c4589bc62 | 4 | |
surpace0924 | 0:072c4589bc62 | 5 | #include "mbed.h" |
surpace0924 | 0:072c4589bc62 | 6 | |
surpace0924 | 0:072c4589bc62 | 7 | class SBUS |
surpace0924 | 0:072c4589bc62 | 8 | { |
surpace0924 | 0:072c4589bc62 | 9 | public: |
surpace0924 | 0:072c4589bc62 | 10 | SBUS(PinName tx, PinName rx); |
surpace0924 | 0:072c4589bc62 | 11 | int16_t getData(uint8_t ch); |
surpace0924 | 0:072c4589bc62 | 12 | int getStickVal(int axis); |
surpace0924 | 0:072c4589bc62 | 13 | int getSwitchVal(int parm); |
surpace0924 | 0:072c4589bc62 | 14 | bool failSafe; |
surpace0924 | 0:072c4589bc62 | 15 | |
surpace0924 | 0:072c4589bc62 | 16 | private: |
surpace0924 | 0:072c4589bc62 | 17 | RawSerial sbus_; |
surpace0924 | 0:072c4589bc62 | 18 | void sbusIrqRx (); |
surpace0924 | 0:072c4589bc62 | 19 | int sbusIndex; |
surpace0924 | 0:072c4589bc62 | 20 | unsigned int rcChannel[18]; |
surpace0924 | 0:072c4589bc62 | 21 | long map(long x, long in_min, long in_max, long out_min, long out_max); // From:Arduino.h |
surpace0924 | 0:072c4589bc62 | 22 | }; |
surpace0924 | 0:072c4589bc62 | 23 | |
surpace0924 | 0:072c4589bc62 | 24 | #endif |