mirror of https://github.com/ArduPilot/ardupilot
45 lines
1.2 KiB
C
45 lines
1.2 KiB
C
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#ifndef __AP_HAL_VRBRAIN_RCOUTPUT_H__
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#define __AP_HAL_VRBRAIN_RCOUTPUT_H__
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#include <AP_HAL_VRBRAIN.h>
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#include <systemlib/perf_counter.h>
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#define VRBRAIN_NUM_OUTPUT_CHANNELS 16
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class VRBRAIN::VRBRAINRCOutput : public AP_HAL::RCOutput
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{
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public:
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void init(void* machtnichts);
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void set_freq(uint32_t chmask, uint16_t freq_hz);
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uint16_t get_freq(uint8_t ch);
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void enable_ch(uint8_t ch);
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void disable_ch(uint8_t ch);
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void write(uint8_t ch, uint16_t period_us);
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void write(uint8_t ch, uint16_t* period_us, uint8_t len);
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uint16_t read(uint8_t ch);
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void read(uint16_t* period_us, uint8_t len);
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void set_safety_pwm(uint32_t chmask, uint16_t period_us);
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void force_safety_off(void);
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void _timer_tick(void);
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private:
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int _pwm_fd;
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int _alt_fd;
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uint16_t _freq_hz;
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uint16_t _period[VRBRAIN_NUM_OUTPUT_CHANNELS];
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volatile uint8_t _max_channel;
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volatile bool _need_update;
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perf_counter_t _perf_rcout;
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uint32_t _last_output;
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unsigned _servo_count;
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unsigned _alt_servo_count;
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uint32_t _rate_mask;
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uint16_t _enabled_channels;
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void _init_alt_channels(void);
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};
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#endif // __AP_HAL_VRBRAIN_RCOUTPUT_H__
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