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29 lines
772 B
29 lines
772 B
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#ifndef __AP_HAL_LINUX_RCOUTPUT_RASPILOT_H__ |
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#define __AP_HAL_LINUX_RCOUTPUT_RASPILOT_H__ |
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#include "AP_HAL_Linux.h" |
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class Linux::RCOutput_Raspilot : public AP_HAL::RCOutput { |
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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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private: |
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void reset(); |
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void _update(void); |
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AP_HAL::SPIDeviceDriver *_spi; |
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AP_HAL::Semaphore *_spi_sem; |
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uint32_t _last_update_timestamp; |
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uint16_t _frequency; |
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uint16_t _period_us[8]; |
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}; |
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#endif // __AP_HAL_LINUX_RCOUTPUT_RASPILOT_H__
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