mirror of https://github.com/ArduPilot/ardupilot
30 lines
841 B
C++
30 lines
841 B
C++
#pragma once
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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::RCOutput : public AP_HAL::RCOutput {
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public:
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explicit RCOutput(SITL_State *sitlState): _sitlState(sitlState), _freq_hz(50) {}
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void init() override;
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void set_freq(uint32_t chmask, uint16_t freq_hz) override;
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uint16_t get_freq(uint8_t ch) override;
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void enable_ch(uint8_t ch) override;
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void disable_ch(uint8_t ch) override;
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void write(uint8_t ch, uint16_t period_us) override;
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uint16_t read(uint8_t ch) override;
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void read(uint16_t* period_us, uint8_t len) override;
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void cork(void) override;
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void push(void) override;
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private:
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SITL_State *_sitlState;
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uint16_t _freq_hz;
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uint16_t _enable_mask;
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bool _corked;
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uint16_t _pending[SITL_NUM_CHANNELS];
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};
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#endif
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