mirror of https://github.com/ArduPilot/ardupilot
32 lines
764 B
C++
32 lines
764 B
C++
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#ifndef __AP_HAL_SITL_RCOUTPUT_H__
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#define __AP_HAL_SITL_RCOUTPUT_H__
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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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class HALSITL::SITLRCOutput : public AP_HAL::RCOutput {
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public:
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SITLRCOutput(SITL_State *sitlState) {
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_sitlState = sitlState;
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_freq_hz = 50;
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}
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void init();
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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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uint16_t read(uint8_t ch);
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void read(uint16_t* period_us, uint8_t len);
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private:
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SITL_State *_sitlState;
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uint16_t _freq_hz;
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};
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#endif
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#endif // __AP_HAL_SITL_RCOUTPUT_H__
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