aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_HAL: proper RCOutput interface specification

Browse Source
This commit is contained in:
Pat Hickey 2012-08-27 16:45:46 -07:00 committed by Andrew Tridgell
parent fc2e1455a9
commit acfbddef0d
1 changed files with 22 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
libraries/AP_HAL/RCOutput.h
View File

@ -6,8 +6,28 @@
class AP_HAL::RCOutput {
public:
RCOutput() {}
virtual void init(int machtnicht) = 0;
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_ms) = 0;
virtual void write(uint8_t ch, uint16_t* period_ms, 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_ms, uint8_t len) = 0;
};
#endif // __AP_HAL_RC_OUTPUT_H__