ardupilot/libraries/AP_HAL_FLYMAPLE/RCOutput.h

51 lines
1.7 KiB
C++

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