mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-02-07 19:16:23 +08:00
68 lines
1.8 KiB
C++
68 lines
1.8 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
|
|
#ifndef HAL_LINUX_RCOUTPUT_MULTI_ENABLED
|
|
#define HAL_LINUX_RCOUTPUT_MULTI_ENABLED 0
|
|
#endif
|
|
|
|
#if HAL_LINUX_RCOUTPUT_MULTI_ENABLED
|
|
|
|
#include "AP_HAL/RCOutput.h"
|
|
#include <stdarg.h>
|
|
|
|
namespace Linux
|
|
{
|
|
|
|
class RCOutput_Multi : public AP_HAL::RCOutput
|
|
{
|
|
public:
|
|
RCOutput_Multi(uint8_t num_outputs, ...);
|
|
void init() override;
|
|
void set_freq(uint32_t chmask, uint16_t freq_hz) override;
|
|
uint16_t get_freq(uint8_t ch) override;
|
|
void write(uint8_t ch, uint16_t period_us) override;
|
|
|
|
void cork() override;
|
|
void push() override;
|
|
|
|
uint16_t read(uint8_t ch) override;
|
|
void read(uint16_t* period_us, uint8_t len) override;
|
|
|
|
void enable_ch(uint8_t ch) override;
|
|
void disable_ch(uint8_t ch) override;
|
|
bool force_safety_on() override;
|
|
void force_safety_off() override;
|
|
bool supports_gpio() override { return false; };
|
|
|
|
typedef struct {
|
|
uint8_t num_channels;
|
|
RCOutput *output;
|
|
} RCOutputGroup;
|
|
|
|
private:
|
|
uint8_t num_outputs;
|
|
RCOutputGroup *outputs;
|
|
bool resolve_channel(uint8_t ch, uint8_t & gid, uint8_t &cid);
|
|
};
|
|
|
|
}
|
|
|
|
#endif // HAL_LINUX_RCOUTPUT_MULTI_ENABLED
|
|
|