You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
32 lines
887 B
32 lines
887 B
|
|
#ifndef __AP_HAL_LINUX_RCOUTPUT_NAVIO_H__ |
|
#define __AP_HAL_LINUX_RCOUTPUT_NAVIO_H__ |
|
|
|
#include <AP_HAL_Linux.h> |
|
|
|
class Linux::LinuxRCOutput_Navio : public AP_HAL::RCOutput { |
|
public: |
|
LinuxRCOutput_Navio(); |
|
~LinuxRCOutput_Navio(); |
|
void init(void* machtnichts); |
|
void reset_all_channels(); |
|
void set_freq(uint32_t chmask, uint16_t freq_hz); |
|
uint16_t get_freq(uint8_t ch); |
|
void enable_ch(uint8_t ch); |
|
void disable_ch(uint8_t ch); |
|
void write(uint8_t ch, uint16_t period_us); |
|
void write(uint8_t ch, uint16_t* period_us, uint8_t len); |
|
uint16_t read(uint8_t ch); |
|
void read(uint16_t* period_us, uint8_t len); |
|
|
|
private: |
|
void reset(); |
|
|
|
AP_HAL::Semaphore *_i2c_sem; |
|
AP_HAL::DigitalSource *enable_pin; |
|
uint16_t _frequency; |
|
|
|
uint16_t *_pulses_buffer; |
|
}; |
|
|
|
#endif // __AP_HAL_LINUX_RCOUTPUT_NAVIO_H__
|
|
|