mirror of https://github.com/ArduPilot/ardupilot
52 lines
1.3 KiB
C++
52 lines
1.3 KiB
C++
|
|
#ifndef __AP_HAL_RC_OUTPUT_H__
|
|
#define __AP_HAL_RC_OUTPUT_H__
|
|
|
|
#include "AP_HAL_Namespace.h"
|
|
|
|
/* Define the CH_n names, indexed from 1, if we don't have them already */
|
|
#ifndef CH_1
|
|
#define CH_1 0
|
|
#define CH_2 1
|
|
#define CH_3 2
|
|
#define CH_4 3
|
|
#define CH_5 4
|
|
#define CH_6 5
|
|
#define CH_7 6
|
|
#define CH_8 7
|
|
#define CH_9 8
|
|
#define CH_10 9
|
|
#define CH_11 10
|
|
#define CH_12 11
|
|
#endif
|
|
|
|
|
|
class AP_HAL::RCOutput {
|
|
public:
|
|
virtual void init(void* implspecific) = 0;
|
|
|
|
/* Output freq (1/period) control */
|
|
virtual void set_freq(uint32_t chmask, uint16_t freq_hz) = 0;
|
|
virtual uint16_t get_freq(uint8_t ch) = 0;
|
|
|
|
/* Output active/highZ control, either by single channel at a time
|
|
* or a mask of channels */
|
|
virtual void enable_ch(uint8_t ch) = 0;
|
|
virtual void enable_mask(uint32_t chmask) = 0;
|
|
|
|
virtual void disable_ch(uint8_t ch) = 0;
|
|
virtual void disable_mask(uint32_t chmask) = 0;
|
|
|
|
/* Output, either single channel or bulk array of channels */
|
|
virtual void write(uint8_t ch, uint16_t period_us) = 0;
|
|
virtual void write(uint8_t ch, uint16_t* period_us, uint8_t len) = 0;
|
|
|
|
/* Read back current output state, as either single channel or
|
|
* array of channels. */
|
|
virtual uint16_t read(uint8_t ch) = 0;
|
|
virtual void read(uint16_t* period_us, uint8_t len) = 0;
|
|
};
|
|
|
|
#endif // __AP_HAL_RC_OUTPUT_H__
|
|
|