ardupilot/libraries/AP_HAL/RCOutput.h

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#ifndef __AP_HAL_RC_OUTPUT_H__
#define __AP_HAL_RC_OUTPUT_H__
#include "AP_HAL_Namespace.h"
/* Define the CH_n names, indexed from 1, if we don't have them already */
#ifndef CH_1
#define CH_1 0
#define CH_2 1
#define CH_3 2
#define CH_4 3
#define CH_5 4
#define CH_6 5
#define CH_7 6
#define CH_8 7
#define CH_9 8
#define CH_10 9
#define CH_11 10
#define CH_12 11
#define CH_13 12
#define CH_14 13
#define CH_15 14
#define CH_16 15
#define CH_17 16
#define CH_18 17
#endif
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 disable_ch(uint8_t ch) = 0;
/* Output, either single channel or bulk array of channels */
virtual void write(uint8_t ch, uint16_t period_us) = 0;
virtual void write(uint8_t ch, uint16_t* period_us, 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_us, uint8_t len) = 0;
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/*
set PWM to send to a set of channels when the safety switch is
in the safe state
*/
virtual void set_safety_pwm(uint32_t chmask, uint16_t period_us) {}
/*
set PWM to send to a set of channels if the FMU firmware dies
*/
virtual void set_failsafe_pwm(uint32_t chmask, uint16_t period_us) {}
/*
force the safety switch off, enabling PWM output from the IO board
*/
virtual void force_safety_off(void) {}
};
#endif // __AP_HAL_RC_OUTPUT_H__