ardupilot/libraries/AP_HAL_QURT/RCOutput.h

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#pragma once
#include <AP_HAL/AP_HAL.h>
#include "AP_HAL_QURT.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_QURT
class QURT::RCOutput : public AP_HAL::RCOutput {
public:
RCOutput(const char *_device_path) {
device_path = _device_path;
}
void set_device_path(const char *path) {
device_path = path;
}
void init();
void set_freq(uint32_t chmask, uint16_t freq_hz);
uint16_t get_freq(uint8_t ch);
void enable_ch(uint8_t ch);
void disable_ch(uint8_t ch);
void write(uint8_t ch, uint16_t period_us);
uint16_t read(uint8_t ch);
void read(uint16_t *period_us, uint8_t len);
void timer_update(void);
private:
const char *device_path;
const uint32_t baudrate = 115200;
static const uint8_t channel_count = 4;
int fd = -1;
uint16_t enable_mask;
uint16_t period[channel_count];
volatile bool need_write;
};
#endif // CONFIG_HAL_BOARD