ardupilot/libraries/AP_HAL_Linux/RCOutput_Sysfs.cpp

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
* Copyright (C) 2015 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/>.
*/
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include "RCOutput_Sysfs.h"
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h>
namespace Linux {
RCOutput_Sysfs::RCOutput_Sysfs(uint8_t chip, uint8_t channel_count)
: _chip(chip)
, _channel_count(channel_count)
, _pwm_channels(new PWM_Sysfs *[_channel_count])
{
}
RCOutput_Sysfs::~RCOutput_Sysfs()
{
for (uint8_t i = 0; i < _channel_count; i++) {
delete _pwm_channels[i];
}
delete _pwm_channels;
}
void RCOutput_Sysfs::init()
{
for (uint8_t i = 0; i < _channel_count; i++) {
_pwm_channels[i] = new PWM_Sysfs(_chip, i);
if (!_pwm_channels[i]) {
AP_HAL::panic("RCOutput_Sysfs_PWM: Unable to setup PWM pin.");
}
_pwm_channels[i]->enable(false);
/* Set the initial frequency */
_pwm_channels[i]->set_freq(50);
_pwm_channels[i]->set_duty_cycle(0);
_pwm_channels[i]->set_polarity(PWM_Sysfs::Polarity::NORMAL);
}
}
void RCOutput_Sysfs::set_freq(uint32_t chmask, uint16_t freq_hz)
{
for (uint8_t i = 0; i < _channel_count; i++) {
if (chmask & 1 << i) {
_pwm_channels[i]->set_freq(freq_hz);
}
}
}
uint16_t RCOutput_Sysfs::get_freq(uint8_t ch)
{
if (ch >= _channel_count) {
return 0;
}
return _pwm_channels[ch]->get_freq();
}
void RCOutput_Sysfs::enable_ch(uint8_t ch)
{
if (ch >= _channel_count) {
return;
}
_pwm_channels[ch]->enable(true);
}
void RCOutput_Sysfs::disable_ch(uint8_t ch)
{
if (ch >= _channel_count) {
return;
}
_pwm_channels[ch]->enable(false);
}
void RCOutput_Sysfs::write(uint8_t ch, uint16_t period_us)
{
if (ch >= _channel_count) {
return;
}
_pwm_channels[ch]->set_duty_cycle(usec_to_nsec(period_us));
}
uint16_t RCOutput_Sysfs::read(uint8_t ch)
{
if (ch >= _channel_count) {
return 0;
}
return nsec_to_usec(_pwm_channels[ch]->get_duty_cycle());
}
void RCOutput_Sysfs::read(uint16_t *period_us, uint8_t len)
{
for (int i = 0; i < len; i++) {
period_us[i] = read(i);
}
}
}
#endif