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.
44 lines
1.1 KiB
44 lines
1.1 KiB
8 years ago
|
#pragma once
|
||
|
|
|
||
|
|
#include "AP_HAL_PX4.h"
|
||
|
|
#include <systemlib/perf_counter.h>
|
||
|
|
#include <uORB/topics/actuator_armed.h>
|
||
|
|
#include <uORB/topics/actuator_outputs.h>
|
||
|
|
|
||
|
|
namespace PX4 {
|
||
|
|
|
||
|
|
class RCOutput_Tap : public AP_HAL::RCOutput {
|
||
|
|
public:
|
||
|
|
void init() override;
|
||
|
|
void set_freq(uint32_t chmask, uint16_t freq_hz) override;
|
||
|
|
uint16_t get_freq(uint8_t ch) override;
|
||
|
|
void enable_ch(uint8_t ch) override;
|
||
|
|
void disable_ch(uint8_t ch) override;
|
||
|
|
void write(uint8_t ch, uint16_t period_us) override;
|
||
|
|
uint16_t read(uint8_t ch) override;
|
||
|
|
void read(uint16_t *period_us, uint8_t len) override;
|
||
|
|
|
||
|
|
void set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm) override {
|
||
|
|
_esc_pwm_min = min_pwm;
|
||
|
|
_esc_pwm_max = max_pwm;
|
||
|
|
}
|
||
|
|
|
||
|
|
void cork() override;
|
||
|
|
void push() override;
|
||
|
|
|
||
|
|
private:
|
||
|
|
static const uint8_t MAX_MOTORS = 4;
|
||
|
|
|
||
|
|
void _send_outputs(void);
|
||
|
|
|
||
|
|
uint8_t _enabled_channels = 0;
|
||
|
|
bool _corking = false;
|
||
|
|
|
||
|
|
uint16_t _period[MAX_MOTORS];
|
||
|
|
uint16_t _esc_pwm_min = 0;
|
||
|
|
uint16_t _esc_pwm_max = 0;
|
||
|
|
perf_counter_t _perf_rcout;
|
||
|
|
};
|
||
|
|
|
||
|
|
}
|