mirror of https://github.com/ArduPilot/ardupilot
70 lines
2.1 KiB
C++
70 lines
2.1 KiB
C++
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#ifndef __AP_HAL_AVR_RC_OUTPUT_H__
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#define __AP_HAL_AVR_RC_OUTPUT_H__
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#include <AP_HAL.h>
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#include "AP_HAL_AVR_Namespace.h"
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class AP_HAL_AVR::APM1RCOutput : public AP_HAL::RCOutput {
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public:
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/* No init argument required */
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void init(void* machtnichts);
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/* Output freq (1/period) control */
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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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/* Output active/highZ control, either by single channel at a time
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* or a mask of channels */
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void enable_ch(uint8_t ch);
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void enable_mask(uint32_t chmask);
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void disable_ch(uint8_t ch);
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void disable_mask(uint32_t chmask);
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/* Output, either single channel or bulk array of channels */
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void write(uint8_t ch, uint16_t period_ms);
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void write(uint8_t ch, uint16_t* period_ms, uint8_t len);
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/* Read back current output state, as either single channel or
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* array of channels. */
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uint16_t read(uint8_t ch);
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void read(uint16_t* period_ms, uint8_t len);
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private:
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uint16_t _timer_period(uint16_t speed_hz);
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};
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class AP_HAL_AVR::APM2RCOutput : public AP_HAL::RCOutput {
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public:
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/* No init argument required */
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void init(void* machtnichts);
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/* Output freq (1/period) control */
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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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/* Output active/highZ control, either by single channel at a time
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* or a mask of channels */
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void enable_ch(uint8_t ch);
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void enable_mask(uint32_t chmask);
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void disable_ch(uint8_t ch);
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void disable_mask(uint32_t chmask);
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/* Output, either single channel or bulk array of channels */
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void write(uint8_t ch, uint16_t period_us);
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void write(uint8_t ch, uint16_t* period_us, uint8_t len);
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/* Read back current output state, as either single channel or
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* array of channels starting at 0. */
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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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uint16_t _timer_period(uint16_t speed_hz);
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};
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#endif // __AP_HAL_AVR_RC_OUTPUT_H__
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