mirror of https://github.com/ArduPilot/ardupilot
156 lines
3.7 KiB
C++
156 lines
3.7 KiB
C++
/*
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* Copyright (C) 2016 Intel Corporation. All rights reserved.
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "AP_HAL_Linux.h"
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namespace Linux {
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class RCOutput_AeroIO : public AP_HAL::RCOutput {
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public:
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RCOutput_AeroIO();
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~RCOutput_AeroIO();
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void init() override;
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/**
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* Enable channel
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*/
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void enable_ch(uint8_t ch) override;
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/**
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* Disable channel (0 of duty cycle)
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*/
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void disable_ch(uint8_t ch) override;
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/**
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* Set all channels in the same frequency
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*
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* @chmask Bitmask
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* @freq_hz Frequency
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*/
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void set_freq(uint32_t chmask, uint16_t freq_hz) override;
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/**
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* Get frequency of channel
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*
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* @ch channel
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*
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* Return: frequency of this channel
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*/
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uint16_t get_freq(uint8_t ch) override;
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/**
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* Set period in µs
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*
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* @ch channel
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* @period_us time in µs
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*/
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void write(uint8_t ch, uint16_t period_us) override;
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void cork() override;
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void push() override;
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/**
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* Get period of the duty cycle in µs
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*/
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uint16_t read(uint8_t ch) override;
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/**
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* Set @period_us with the values in µs of each channel
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*
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* @period_us vector that will be filled with duty cycle periods of
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* each channel
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* @len size of period_us vector
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*/
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void read(uint16_t *period_us, uint8_t len) override;
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private:
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/**
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* Convert from µs to hw units, 16bits percentage of
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* the frequency, where 0xFFFF is 1/Freq seconds in high
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*
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* @freq Frequency
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* @usec Time in µseconds
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*
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* Return: conversion from µs in a specific frequency to 16bits
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*/
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static uint16_t _usec_to_hw(uint16_t freq, uint16_t usec);
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/**
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* Convert from hw units, 16bits percentage of the frequency, to
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* time in µs
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*
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* @freq Frequency
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* @hw_val 16b percentage
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*/
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static uint16_t _hw_to_usec(uint16_t freq, uint16_t hw_val);
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/**
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* Low-level spi write
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*
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* @address register address
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* @data value to be written
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*
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* Return: true on success, false otherwise
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*/
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bool _hw_write(uint16_t address, uint16_t data);
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/**
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* Low-level spi read
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*
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* @address register address
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*
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* Return: value read from @address
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*/
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uint16_t _hw_read(uint16_t address);
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AP_HAL::OwnPtr<AP_HAL::Device> _spi;
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/**
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* Frequency buffer of last written values
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*/
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uint16_t *_freq_buffer;
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/**
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* Duty cycle buffer of last written values
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*/
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uint16_t *_duty_buffer;
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/**
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* Save information about the channel that will be write in the
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* next @RCOutput_AeroIO#push call.
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*
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* 0b...101
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* ││└── 1st channel (Pending operation)
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* │└─── 2nd Channel (No pending operation)
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* └──── 3rd Channel (Pending operation)
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*/
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uint32_t _pending_duty_write_mask = 0;
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uint32_t _pending_freq_write_mask = 0;
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/**
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* If <B>true</B> the push must be called to perform the writing,
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* otherwise will be not necessary.
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*/
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bool _corking = false;
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};
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}
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