RCOutput_AeroIO.h

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/*
 * Copyright (C) 2016  Intel Corporation. All rights reserved.
 *
 * This file 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 file 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_Linux.h"

namespace Linux {

class RCOutput_AeroIO : public AP_HAL::RCOutput {
public:
    RCOutput_AeroIO();
    ~RCOutput_AeroIO();

    void init() override;

    void enable_ch(uint8_t ch) override;

    void disable_ch(uint8_t ch) 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;

private:
    static uint16_t _usec_to_hw(uint16_t freq, uint16_t usec);

    static uint16_t _hw_to_usec(uint16_t freq, uint16_t hw_val);

    bool _hw_write(uint16_t address, uint16_t data);

    uint16_t _hw_read(uint16_t address);

    AP_HAL::OwnPtr<AP_HAL::Device> _spi;

    uint16_t *_freq_buffer;

    uint16_t *_duty_buffer;

    uint32_t _pending_duty_write_mask = 0;
    uint32_t _pending_freq_write_mask = 0;

    bool _corking = false;
};

}