mirror of https://github.com/ArduPilot/ardupilot
48 lines
1.1 KiB
C
48 lines
1.1 KiB
C
|
#pragma once
|
||
|
|
|
||
|
|
#include <AP_HAL/AP_HAL.h>
|
||
|
|
#include "AP_HAL_Linux.h"
|
||
|
|
|
||
|
|
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
|
||
|
|
|
||
|
|
class Linux::RCOutput_QFLIGHT : public AP_HAL::RCOutput {
|
||
|
|
public:
|
||
|
|
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 set_device_path(const char *device);
|
||
|
|
|
||
|
|
private:
|
||
|
|
const char *device = nullptr;
|
||
|
|
const uint32_t baudrate = 115200;
|
||
|
|
static const uint8_t channel_count = 4;
|
||
|
|
|
||
|
|
int32_t fd = -1;
|
||
|
|
uint16_t enable_mask;
|
||
|
|
uint16_t period[channel_count];
|
||
|
|
volatile bool need_write;
|
||
|
|
|
||
|
|
void timer_update(void);
|
||
|
|
|
||
|
|
void check_rc_in(void);
|
||
|
|
|
||
|
|
uint32_t last_read_check_ms;
|
||
|
|
struct PACKED rcin_frame {
|
||
|
|
uint8_t magic;
|
||
|
|
uint16_t rcin[8];
|
||
|
|
uint16_t crc;
|
||
|
|
};
|
||
|
|
union {
|
||
|
|
struct rcin_frame rcin;
|
||
|
|
uint8_t bytes[19];
|
||
|
|
} rcu;
|
||
|
|
uint8_t nrcin_bytes;
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif // CONFIG_HAL_BOARD_SUBTYPE
|