ardupilot/libraries/AP_HAL_AVR/RCOutput.h

64 lines
1.9 KiB
C++

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