mirror of https://github.com/ArduPilot/ardupilot
46 lines
1.5 KiB
C++
46 lines
1.5 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Flymaple port by Mike McCauley
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*/
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#pragma once
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#include "AP_HAL_FLYMAPLE.h"
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#define FLYMAPLE_RC_OUTPUT_NUM_CHANNELS 6
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class AP_HAL_FLYMAPLE_NS::FLYMAPLERCOutput : public AP_HAL::RCOutput {
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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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// We map channels to Flymaple pins so AP channels 1 to 6 map to
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// the conventional Flymaple PWM output pins on J5 (pins 28, 27, 11, 12, 24, 14 respectively)
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// also
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// Channel 7 -> pin 5
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// channel 8 -> pin 9
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uint8_t _channel_to_flymaple_pin(uint8_t ch);
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void _set_freq(uint8_t ch, uint16_t freq_hz);
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uint32_t _clocks_per_msecond[FLYMAPLE_RC_OUTPUT_NUM_CHANNELS];
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};
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