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41 lines
936 B
41 lines
936 B
#pragma once |
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#include <AP_HAL/AP_HAL.h> |
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#include "AP_HAL_QURT.h" |
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#if CONFIG_HAL_BOARD == HAL_BOARD_QURT |
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class QURT::RCOutput : public AP_HAL::RCOutput { |
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public: |
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RCOutput(const char *_device_path) { |
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device_path = _device_path; |
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} |
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void set_device_path(const char *path) { |
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device_path = path; |
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} |
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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 timer_update(void); |
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private: |
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const char *device_path; |
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const uint32_t baudrate = 115200; |
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static const uint8_t channel_count = 4; |
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int fd = -1; |
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uint16_t enable_mask; |
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uint16_t period[channel_count]; |
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volatile bool need_write; |
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}; |
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#endif // CONFIG_HAL_BOARD
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