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.
25 lines
646 B
25 lines
646 B
#pragma once |
|
|
|
#include "AP_HAL_Linux.h" |
|
|
|
class Linux::RCOutput_Raspilot : public AP_HAL::RCOutput { |
|
void init(); |
|
void set_freq(uint32_t chmask, uint16_t freq_hz); |
|
uint16_t get_freq(uint8_t ch); |
|
void enable_ch(uint8_t ch); |
|
void disable_ch(uint8_t ch); |
|
void write(uint8_t ch, uint16_t period_us); |
|
uint16_t read(uint8_t ch); |
|
void read(uint16_t* period_us, uint8_t len); |
|
|
|
private: |
|
void reset(); |
|
void _update(void); |
|
|
|
AP_HAL::SPIDeviceDriver *_spi; |
|
AP_HAL::Semaphore *_spi_sem; |
|
|
|
uint32_t _last_update_timestamp; |
|
uint16_t _frequency; |
|
uint16_t _period_us[8]; |
|
};
|
|
|