37 lines
855 B
C
37 lines
855 B
C
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include "AP_HAL_QURT.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_QURT
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class QURT::RCOutput : public AP_HAL::RCOutput {
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public:
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RCOutput(const char *_device_path) {
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device_path = _device_path;
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}
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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 timer_update(void);
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private:
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const char *device_path;
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const uint32_t baudrate = 115200;
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static const uint8_t channel_count = 4;
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int 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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};
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#endif // CONFIG_HAL_BOARD
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