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48 lines
1.5 KiB
48 lines
1.5 KiB
#pragma once |
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#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && !defined(HAL_BUILD_AP_PERIPH) |
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#include "AP_HAL_SITL.h" |
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#include <AP_ESC_Telem/AP_ESC_Telem_SITL.h> |
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class HALSITL::RCOutput : public AP_HAL::RCOutput { |
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public: |
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explicit RCOutput(SITL_State *sitlState): _sitlState(sitlState), _freq_hz(50) {} |
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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(void) override; |
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void push(void) override; |
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/* |
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force the safety switch on, disabling PWM output from the IO board |
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*/ |
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bool force_safety_on(void) override; |
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/* |
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force the safety switch off, enabling PWM output from the IO board |
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*/ |
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void force_safety_off(void) override; |
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/* |
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Serial LED emulation |
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*/ |
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bool set_serial_led_num_LEDs(const uint16_t chan, uint8_t num_leds, output_mode mode = MODE_PWM_NONE, uint16_t clock_mask = 0) override; |
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void set_serial_led_rgb_data(const uint16_t chan, int8_t led, uint8_t red, uint8_t green, uint8_t blue) override; |
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void serial_led_send(const uint16_t chan) override; |
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private: |
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SITL_State *_sitlState; |
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AP_ESC_Telem_SITL *esc_telem; |
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uint16_t _freq_hz; |
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uint16_t _enable_mask; |
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bool _corked; |
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uint16_t _pending[SITL_NUM_CHANNELS]; |
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}; |
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#endif
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