mirror of https://github.com/ArduPilot/ardupilot
55 lines
1.2 KiB
C++
55 lines
1.2 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include "AP_HAL_Linux.h"
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
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namespace Linux {
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class RCOutput_QFLIGHT : 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 set_device_path(const char *device);
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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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const char *device = nullptr;
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const uint32_t baudrate = 115200;
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static const uint8_t channel_count = 4;
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int32_t fd = -1;
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uint16_t enable_mask;
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uint16_t period[channel_count];
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volatile bool need_write;
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void timer_update(void);
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void check_rc_in(void);
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uint32_t last_read_check_ms;
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struct PACKED rcin_frame {
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uint8_t magic;
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uint16_t rcin[8];
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uint16_t crc;
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};
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union {
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struct rcin_frame rcin;
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uint8_t bytes[19];
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} rcu;
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uint8_t nrcin_bytes;
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bool corked;
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};
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}
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#endif // CONFIG_HAL_BOARD_SUBTYPE
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