ardupilot/libraries/AP_HAL_Linux/RCOutput_Disco.h

56 lines
1.6 KiB
C++

#pragma once
#include "AP_HAL_Linux.h"
#include "RCOutput_Sysfs.h"
#include "RCOutput_Bebop.h"
class Linux::RCOutput_Disco : public AP_HAL::RCOutput {
public:
RCOutput_Disco(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
~RCOutput_Disco() {}
static RCOutput_Bebop *from(AP_HAL::RCOutput *rcoutput)
{
// this is used by AP_BattMonitor_Bebop to get obs data. We
// need to return the Bebop output, not ourselves
RCOutput_Disco *d = static_cast<RCOutput_Disco *>(rcoutput);
return static_cast<RCOutput_Bebop *>(&d->bebop_out);
}
void init() override;
void set_freq(uint32_t chmask, uint16_t freq_hz) override;
uint16_t get_freq(uint8_t ch) override;
void enable_ch(uint8_t ch) override;
void disable_ch(uint8_t ch) override;
void write(uint8_t ch, uint16_t period_us) override;
uint16_t read(uint8_t ch) override;
void read(uint16_t *period_us, uint8_t len) override;
void cork() override;
void push() override;
void set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm) override;
private:
// Disco RC output combines methods from Sysfs and Bebop
RCOutput_Bebop bebop_out;
RCOutput_Sysfs sysfs_out{0, 1, 6};
/*
use a table to provide the mapping to channel numbers in each
backend
*/
typedef struct {
RCOutput &output;
uint8_t channel;
} output_table_t;
const output_table_t output_table[7] = {
{ sysfs_out, 3 },
{ sysfs_out, 2 },
{ bebop_out, 0 },
{ sysfs_out, 4 },
{ sysfs_out, 1 },
{ sysfs_out, 5 },
{ sysfs_out, 0 },
};
};