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31 lines
781 B
31 lines
781 B
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#ifndef __AP_HAL_SITL_RCOUTPUT_H__ |
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#define __AP_HAL_SITL_RCOUTPUT_H__ |
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#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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#include "AP_HAL_SITL.h" |
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class HALSITL::SITLRCOutput : public AP_HAL::RCOutput { |
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public: |
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SITLRCOutput(SITL_State *sitlState) { |
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_sitlState = sitlState; |
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_freq_hz = 50; |
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} |
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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 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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private: |
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SITL_State *_sitlState; |
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uint16_t _freq_hz; |
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}; |
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#endif |
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#endif // __AP_HAL_SITL_RCOUTPUT_H__ |
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