mirror of https://github.com/ArduPilot/ardupilot
35 lines
815 B
C++
35 lines
815 B
C++
#pragma once
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#include "AP_HAL_Linux.h"
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#include "PWM_Sysfs.h"
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namespace Linux {
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class RCOutput_Sysfs : public AP_HAL::RCOutput {
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public:
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RCOutput_Sysfs(uint8_t chip, uint8_t channel_base, uint8_t channel_count);
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~RCOutput_Sysfs();
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static RCOutput_Sysfs *from(AP_HAL::RCOutput *rcoutput)
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{
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return static_cast<RCOutput_Sysfs *>(rcoutput);
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}
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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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const uint8_t _chip;
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const uint8_t _channel_base;
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const uint8_t _channel_count;
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PWM_Sysfs_Base **_pwm_channels;
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};
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}
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