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27 lines
715 B
27 lines
715 B
12 years ago
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#ifndef __AP_HAL_PX4_RCOUTPUT_H__
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#define __AP_HAL_PX4_RCOUTPUT_H__
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#include <AP_HAL_PX4.h>
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class PX4::PX4RCOutput : public AP_HAL::RCOutput
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{
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public:
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void init(void* machtnichts);
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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 enable_mask(uint32_t chmask);
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void disable_ch(uint8_t ch);
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void disable_mask(uint32_t chmask);
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void write(uint8_t ch, uint16_t period_us);
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void write(uint8_t ch, uint16_t* period_us, uint8_t len);
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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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private:
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int _pwm_fd;
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};
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#endif // __AP_HAL_PX4_RCOUTPUT_H__
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