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29 lines
655 B
29 lines
655 B
12 years ago
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#ifndef __AP_HAL_PX4_RCINPUT_H__
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#define __AP_HAL_PX4_RCINPUT_H__
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#include <AP_HAL_PX4.h>
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#define PX4_NUM_RCINPUT_CHANNELS 8
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class PX4::PX4RCInput : public AP_HAL::RCInput {
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public:
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PX4RCInput();
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void init(void* machtnichts);
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uint8_t valid();
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uint16_t read(uint8_t ch);
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uint8_t read(uint16_t* periods, uint8_t len);
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bool set_overrides(int16_t *overrides, uint8_t len);
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bool set_override(uint8_t channel, int16_t override);
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void clear_overrides();
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private:
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/* override state */
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uint16_t _override[PX4_NUM_RCINPUT_CHANNELS];
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bool _pwm_valid;
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uint32_t _last_read;
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};
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#endif // __AP_HAL_PX4_RCINPUT_H__
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