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50 lines
1.7 KiB
50 lines
1.7 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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Flymaple port by Mike McCauley |
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*/ |
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#ifndef __AP_HAL_FLYMAPLE_RCOUTPUT_H__ |
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#define __AP_HAL_FLYMAPLE_RCOUTPUT_H__ |
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#include <AP_HAL_FLYMAPLE.h> |
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#define FLYMAPLE_RC_OUTPUT_NUM_CHANNELS 6 |
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class AP_HAL_FLYMAPLE_NS::FLYMAPLERCOutput : public AP_HAL::RCOutput { |
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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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void write(uint8_t ch, uint16_t* period_us, uint8_t len); |
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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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// We map channels to Flymaple pins so AP channels 1 to 6 map to |
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// the conventional Flymaple PWM output pins on J5 (pins 28, 27, 11, 12, 24, 14 respectively) |
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// also |
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// Channel 7 -> pin 5 |
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// channel 8 -> pin 9 |
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uint8_t _channel_to_flymaple_pin(uint8_t ch); |
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void _set_freq(uint8_t ch, uint16_t freq_hz); |
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uint32_t _clocks_per_msecond[FLYMAPLE_RC_OUTPUT_NUM_CHANNELS]; |
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}; |
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#endif // __AP_HAL_FLYMAPLE_RCOUTPUT_H__
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