ardupilot/libraries/AP_HAL_Linux/RCOutput_Raspilot.h

30 lines
789 B
C++

#ifndef __AP_HAL_LINUX_RCOUTPUT_RASPILOT_H__
#define __AP_HAL_LINUX_RCOUTPUT_RASPILOT_H__
#include "AP_HAL_Linux.h"
class Linux::RCOutput_Raspilot : 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);
uint16_t read(uint8_t ch);
void read(uint16_t* period_us, uint8_t len);
private:
void reset();
void _update(void);
AP_HAL::SPIDeviceDriver *_spi;
AP_HAL::Semaphore *_spi_sem;
uint32_t _last_update_timestamp;
uint16_t _frequency;
uint16_t _period_us[8];
};
#endif // __AP_HAL_LINUX_RCOUTPUT_RASPILOT_H__