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63 lines
1.9 KiB
63 lines
1.9 KiB
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#ifndef __AP_HAL_AVR_RC_OUTPUT_H__ |
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#define __AP_HAL_AVR_RC_OUTPUT_H__ |
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#include <AP_HAL.h> |
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#include "AP_HAL_AVR_Namespace.h" |
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class AP_HAL_AVR::APM1RCOutput : public AP_HAL::RCOutput { |
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public: |
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/* No init argument required */ |
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void init(void* machtnichts); |
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/* Output freq (1/period) control */ |
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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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/* Output active/highZ control, either by single channel at a time |
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* or a mask of channels */ |
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void enable_ch(uint8_t ch); |
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void disable_ch(uint8_t ch); |
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/* Output, either single channel or bulk array of channels */ |
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void write(uint8_t ch, uint16_t period_ms); |
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void write(uint8_t ch, uint16_t* period_ms, uint8_t len); |
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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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uint16_t read(uint8_t ch); |
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void read(uint16_t* period_ms, uint8_t len); |
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private: |
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uint16_t _timer_period(uint16_t speed_hz); |
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}; |
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class AP_HAL_AVR::APM2RCOutput : public AP_HAL::RCOutput { |
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public: |
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/* No init argument required */ |
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void init(void* machtnichts); |
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/* Output freq (1/period) control */ |
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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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/* Output active/highZ control, either by single channel at a time |
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* or a mask of channels */ |
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void enable_ch(uint8_t ch); |
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void disable_ch(uint8_t ch); |
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/* Output, either single channel or bulk array of channels */ |
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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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/* Read back current output state, as either single channel or |
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* array of channels starting at 0. */ |
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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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uint16_t _timer_period(uint16_t speed_hz); |
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}; |
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#endif // __AP_HAL_AVR_RC_OUTPUT_H__ |
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