ardupilot/libraries/AP_HAL_PX4/RCOutput.h

66 lines
2.0 KiB
C++

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