mirror of https://github.com/ArduPilot/ardupilot
61 lines
1.8 KiB
C++
61 lines
1.8 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include "AP_HAL_SITL.h"
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#include <AP_ESC_Telem/AP_ESC_Telem_SITL.h>
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class HALSITL::RCOutput : public AP_HAL::RCOutput {
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public:
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explicit RCOutput(SITL_State *sitlState): _sitlState(sitlState), _freq_hz(50) {}
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void init() override;
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void set_freq(uint32_t chmask, uint16_t freq_hz) override;
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uint16_t get_freq(uint8_t ch) override;
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void enable_ch(uint8_t ch) override;
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void disable_ch(uint8_t ch) override;
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void write(uint8_t ch, uint16_t period_us) override;
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uint16_t read(uint8_t ch) override;
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void read(uint16_t* period_us, uint8_t len) override;
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void cork(void) override;
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void push(void) override;
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/*
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force the safety switch on, disabling PWM output from the IO board
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*/
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bool force_safety_on(void) override {
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safety_state = AP_HAL::Util::SAFETY_DISARMED;
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return true;
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}
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/*
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force the safety switch off, enabling PWM output from the IO board
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*/
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void force_safety_off(void) override {
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safety_state = AP_HAL::Util::SAFETY_ARMED;
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}
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/*
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get safety switch state, used by Util.cpp
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*/
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AP_HAL::Util::safety_state _safety_switch_state(void) { return safety_state; }
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/*
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Serial LED emulation
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*/
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bool set_serial_led_num_LEDs(const uint16_t chan, uint8_t num_leds, output_mode mode = MODE_PWM_NONE, uint32_t clock_mask = 0) override;
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void set_serial_led_rgb_data(const uint16_t chan, int8_t led, uint8_t red, uint8_t green, uint8_t blue) override;
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void serial_led_send(const uint16_t chan) override;
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private:
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SITL_State *_sitlState;
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AP_ESC_Telem_SITL *esc_telem;
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uint16_t _freq_hz;
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uint32_t _enable_mask;
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bool _corked;
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uint16_t _pending[SITL_NUM_CHANNELS];
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AP_HAL::Util::safety_state safety_state;
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};
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#endif
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