mirror of https://github.com/ArduPilot/ardupilot
35 lines
782 B
C++
35 lines
782 B
C++
#pragma once
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#include "AP_HAL_Linux.h"
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#include <AP_HAL/SPIDevice.h>
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namespace Linux {
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class RCOutput_Raspilot : public AP_HAL::RCOutput {
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public:
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void init();
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void set_freq(uint32_t chmask, uint16_t freq_hz);
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uint16_t get_freq(uint8_t ch);
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void enable_ch(uint8_t ch);
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void disable_ch(uint8_t ch);
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void write(uint8_t ch, uint16_t period_us);
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uint16_t read(uint8_t ch);
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void read(uint16_t* period_us, uint8_t len);
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void cork(void) override;
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void push(void) override;
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private:
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void reset();
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void _update(void);
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev;
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uint32_t _last_update_timestamp;
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uint16_t _frequency;
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uint16_t _new_frequency;
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uint16_t _period_us[8];
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bool _corked;
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};
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}
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