ardupilot/libraries/AP_HAL_VRBRAIN/RCOutput.h

42 lines
1.1 KiB
C++

#pragma once
#include "AP_HAL_VRBRAIN.h"
#include <systemlib/perf_counter.h>
#define VRBRAIN_NUM_OUTPUT_CHANNELS 16
class VRBRAIN::VRBRAINRCOutput : public AP_HAL::RCOutput
{
public:
void init();
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);
void set_safety_pwm(uint32_t chmask, uint16_t period_us);
void set_failsafe_pwm(uint32_t chmask, uint16_t period_us);
bool force_safety_on(void);
void force_safety_off(void);
void _timer_tick(void);
private:
int _pwm_fd;
uint16_t _freq_hz;
uint16_t _period[VRBRAIN_NUM_OUTPUT_CHANNELS];
volatile uint8_t _max_channel;
volatile bool _need_update;
perf_counter_t _perf_rcout;
uint32_t _last_output;
unsigned _servo_count;
uint32_t _rate_mask;
uint16_t _enabled_channels;
void _init_alt_channels(void);
};