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45 lines
1.2 KiB
45 lines
1.2 KiB
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#ifndef __AP_HAL_VRBRAIN_RCOUTPUT_H__ |
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#define __AP_HAL_VRBRAIN_RCOUTPUT_H__ |
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#include "AP_HAL_VRBRAIN.h" |
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#include <systemlib/perf_counter.h> |
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#define VRBRAIN_NUM_OUTPUT_CHANNELS 16 |
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class VRBRAIN::VRBRAINRCOutput : public AP_HAL::RCOutput |
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{ |
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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 set_safety_pwm(uint32_t chmask, uint16_t period_us); |
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void set_failsafe_pwm(uint32_t chmask, uint16_t period_us); |
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bool force_safety_on(void); |
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void force_safety_off(void); |
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void _timer_tick(void); |
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private: |
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int _pwm_fd; |
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uint16_t _freq_hz; |
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uint16_t _period[VRBRAIN_NUM_OUTPUT_CHANNELS]; |
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volatile uint8_t _max_channel; |
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volatile bool _need_update; |
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perf_counter_t _perf_rcout; |
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uint32_t _last_output; |
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unsigned _servo_count; |
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uint32_t _rate_mask; |
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uint16_t _enabled_channels; |
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void _init_alt_channels(void); |
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}; |
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#endif // __AP_HAL_VRBRAIN_RCOUTPUT_H__
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