ardupilot/libraries/AP_HAL/RCOutput.h

#ifndef __AP_HAL_RC_OUTPUT_H__
#define __AP_HAL_RC_OUTPUT_H__

#include "AP_HAL_Namespace.h"

class AP_HAL::RCOutput {
public:
    virtual void init(void* implspecific) = 0;

    /* Output freq (1/period) control */
    virtual void     set_freq(uint32_t chmask, uint16_t freq_hz) = 0;
    virtual uint16_t get_freq(uint8_t ch) = 0;

    /* Output active/highZ control, either by single channel at a time
     * or a mask of channels */
    virtual void     enable_ch(uint8_t ch) = 0;
    virtual void     enable_mask(uint32_t chmask) = 0;

    virtual void     disable_ch(uint8_t ch) = 0;
    virtual void     disable_mask(uint32_t chmask) = 0;

    /* Output, either single channel or bulk array of channels */
    virtual void     write(uint8_t ch, uint16_t period_ms) = 0;
    virtual void     write(uint8_t ch, uint16_t* period_ms, uint8_t len) = 0;

    /* Read back current output state, as either single channel or
     * array of channels. */
    virtual uint16_t read(uint8_t ch) = 0;
    virtual void     read(uint16_t* period_ms, uint8_t len) = 0;
};

#endif // __AP_HAL_RC_OUTPUT_H__