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.
51 lines
1.1 KiB
51 lines
1.1 KiB
#pragma once |
|
|
|
#include <AP_HAL/AP_HAL.h> |
|
#include "AP_HAL_Linux.h" |
|
|
|
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT |
|
|
|
namespace Linux { |
|
|
|
class RCOutput_QFLIGHT : public AP_HAL::RCOutput { |
|
public: |
|
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); |
|
void set_device_path(const char *device); |
|
|
|
private: |
|
const char *device = nullptr; |
|
const uint32_t baudrate = 115200; |
|
static const uint8_t channel_count = 4; |
|
|
|
int32_t fd = -1; |
|
uint16_t enable_mask; |
|
uint16_t period[channel_count]; |
|
volatile bool need_write; |
|
|
|
void timer_update(void); |
|
|
|
void check_rc_in(void); |
|
|
|
uint32_t last_read_check_ms; |
|
struct PACKED rcin_frame { |
|
uint8_t magic; |
|
uint16_t rcin[8]; |
|
uint16_t crc; |
|
}; |
|
union { |
|
struct rcin_frame rcin; |
|
uint8_t bytes[19]; |
|
} rcu; |
|
uint8_t nrcin_bytes; |
|
}; |
|
|
|
} |
|
|
|
#endif // CONFIG_HAL_BOARD_SUBTYPE
|
|
|