mirror of https://github.com/ArduPilot/ardupilot
66 lines
2.0 KiB
C++
66 lines
2.0 KiB
C++
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#ifndef __AP_HAL_PX4_RCOUTPUT_H__
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#define __AP_HAL_PX4_RCOUTPUT_H__
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#include "AP_HAL_PX4.h"
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#include <systemlib/perf_counter.h>
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#include <uORB/topics/actuator_outputs.h>
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#include <uORB/topics/actuator_armed.h>
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#define PX4_NUM_OUTPUT_CHANNELS 16
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class PX4::PX4RCOutput : public AP_HAL::RCOutput
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{
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public:
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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 set_safety_pwm(uint32_t chmask, uint16_t period_us) override;
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void set_failsafe_pwm(uint32_t chmask, uint16_t period_us) override;
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bool force_safety_on(void) override;
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void force_safety_off(void) override;
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void set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm) override {
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_esc_pwm_min = min_pwm;
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_esc_pwm_max = max_pwm;
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}
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void _timer_tick(void);
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private:
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int _pwm_fd;
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int _alt_fd;
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uint16_t _freq_hz;
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uint16_t _period[PX4_NUM_OUTPUT_CHANNELS];
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volatile uint8_t _max_channel;
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volatile bool _need_update;
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perf_counter_t _perf_rcout;
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uint32_t _last_output;
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uint32_t _last_config_us;
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unsigned _servo_count;
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unsigned _alt_servo_count;
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uint32_t _rate_mask;
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uint16_t _enabled_channels;
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struct {
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int pwm_sub;
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actuator_outputs_s outputs;
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} _outputs[ORB_MULTI_MAX_INSTANCES] {};
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actuator_armed_s _armed;
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orb_advert_t _actuator_direct_pub = NULL;
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orb_advert_t _actuator_armed_pub = NULL;
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uint16_t _esc_pwm_min = 0;
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uint16_t _esc_pwm_max = 0;
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void _init_alt_channels(void);
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void _publish_actuators(void);
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void _arm_actuators(bool arm);
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void set_freq_fd(int fd, uint32_t chmask, uint16_t freq_hz);
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};
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#endif // __AP_HAL_PX4_RCOUTPUT_H__
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