mirror of https://github.com/ArduPilot/ardupilot
63 lines
1.9 KiB
C++
63 lines
1.9 KiB
C++
#pragma once
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#include "AP_HAL_Linux.h"
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#include "RCOutput_Sysfs.h"
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#include "RCOutput_Bebop.h"
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namespace Linux {
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class RCOutput_Disco : public AP_HAL::RCOutput {
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public:
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RCOutput_Disco(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
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~RCOutput_Disco() {}
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static RCOutput_Bebop *from(AP_HAL::RCOutput *rcoutput)
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{
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// this is used by AP_BattMonitor_Bebop to get obs data. We
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// need to return the Bebop output, not ourselves
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RCOutput_Disco *d = static_cast<RCOutput_Disco *>(rcoutput);
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return static_cast<RCOutput_Bebop *>(&d->bebop_out);
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}
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void init() override;
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void set_freq(uint32_t chmask, uint16_t freq_hz) override;
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uint16_t get_freq(uint8_t ch) override;
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void enable_ch(uint8_t ch) override;
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void disable_ch(uint8_t ch) override;
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void write(uint8_t ch, uint16_t period_us) override;
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uint16_t read(uint8_t ch) override;
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void read(uint16_t *period_us, uint8_t len) override;
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void cork() override;
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void push() override;
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private:
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// Disco RC output combines methods from Sysfs and Bebop
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RCOutput_Bebop bebop_out;
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RCOutput_Sysfs sysfs_out{0, 1, 6};
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/*
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use a table to provide the mapping to channel numbers in each
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backend
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*/
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typedef struct {
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RCOutput &output;
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uint8_t channel;
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} output_table_t;
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const output_table_t output_table[7] = {
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/*
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servo rail pin numbers are from left to right when looking
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at the CHUCK from the back, so pin1 on the servo rail is
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closest to the first 'C' in 'C.H.U.C.K' on the case
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*/
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{ sysfs_out, 3 }, // chan1, servo rail pin 1
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{ sysfs_out, 2 }, // chan2, servo rail pin 6
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{ bebop_out, 0 }, // I2C motor output
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{ sysfs_out, 4 }, // chan4, servo rail pin 2
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{ sysfs_out, 1 }, // chan5, servo rail pin 5
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{ sysfs_out, 5 }, // chan6, servo rail pin 3
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{ sysfs_out, 0 }, // chan7, servo rail pin 4
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};
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};
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}
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