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85 lines
2.4 KiB
85 lines
2.4 KiB
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#ifndef __AP_HAL_RC_OUTPUT_H__ |
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#define __AP_HAL_RC_OUTPUT_H__ |
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#include "AP_HAL_Namespace.h" |
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/* Define the CH_n names, indexed from 1, if we don't have them already */ |
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#ifndef CH_1 |
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#define CH_1 0 |
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#define CH_2 1 |
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#define CH_3 2 |
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#define CH_4 3 |
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#define CH_5 4 |
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#define CH_6 5 |
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#define CH_7 6 |
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#define CH_8 7 |
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#define CH_9 8 |
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#define CH_10 9 |
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#define CH_11 10 |
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#define CH_12 11 |
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#define CH_13 12 |
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#define CH_14 13 |
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#define CH_15 14 |
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#define CH_16 15 |
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#define CH_17 16 |
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#define CH_18 17 |
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#endif |
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class AP_HAL::RCOutput { |
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public: |
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virtual void init(void* implspecific) = 0; |
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/* Output freq (1/period) control */ |
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virtual void set_freq(uint32_t chmask, uint16_t freq_hz) = 0; |
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virtual uint16_t get_freq(uint8_t ch) = 0; |
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/* Output active/highZ control, either by single channel at a time |
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* or a mask of channels */ |
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virtual void enable_ch(uint8_t ch) = 0; |
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virtual void disable_ch(uint8_t ch) = 0; |
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/* Output, either single channel or bulk array of channels */ |
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virtual void write(uint8_t ch, uint16_t period_us) = 0; |
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virtual void write(uint8_t ch, uint16_t* period_us, uint8_t len) = 0; |
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/* Read back current output state, as either single channel or |
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* array of channels. */ |
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virtual uint16_t read(uint8_t ch) = 0; |
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virtual void read(uint16_t* period_us, uint8_t len) = 0; |
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/* |
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set PWM to send to a set of channels when the safety switch is |
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in the safe state |
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*/ |
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virtual void set_safety_pwm(uint32_t chmask, uint16_t period_us) {} |
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/* |
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set PWM to send to a set of channels if the FMU firmware dies |
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*/ |
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virtual void set_failsafe_pwm(uint32_t chmask, uint16_t period_us) {} |
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/* |
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force the safety switch on, disabling PWM output from the IO board |
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return false (indicating failure) by default so that boards with no safety switch |
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do not need to implement this method |
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*/ |
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virtual bool force_safety_on(void) { return false; } |
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/* |
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force the safety switch off, enabling PWM output from the IO board |
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*/ |
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virtual void force_safety_off(void) {} |
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/* |
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setup scaling of ESC output for ESCs that can output a |
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percentage of power (such as UAVCAN ESCs). The values are in |
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microseconds, and represent minimum and maximum PWM values which |
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will be used to convert channel writes into a percentage |
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*/ |
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virtual void set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm) {} |
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}; |
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#endif // __AP_HAL_RC_OUTPUT_H__ |
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