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34 lines
782 B
34 lines
782 B
#pragma once |
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#include "AP_HAL_Linux.h" |
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#include <AP_HAL/SPIDevice.h> |
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namespace Linux { |
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class RCOutput_Raspilot : public AP_HAL::RCOutput { |
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public: |
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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 cork(void) override; |
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void push(void) override; |
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private: |
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void reset(); |
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void _update(void); |
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev; |
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uint32_t _last_update_timestamp; |
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uint16_t _frequency; |
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uint16_t _new_frequency; |
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uint16_t _period_us[8]; |
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bool _corked; |
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}; |
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}
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