ardupilot/libraries/AP_HAL_Linux/RCOutput_Raspilot.h

35 lines
782 B
C++

#pragma once
#include "AP_HAL_Linux.h"
#include <AP_HAL/SPIDevice.h>
namespace Linux {
class RCOutput_Raspilot : 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 cork(void) override;
void push(void) override;
private:
void reset();
bool _update(void);
AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev;
uint32_t _last_update_timestamp;
uint16_t _frequency;
uint16_t _new_frequency;
uint16_t _period_us[8];
bool _corked;
};
}