mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-08 17:08:28 -04:00
c66c61180a
This include some minor changes on all methods of PWM_Sysfs:
- Sort headers
- Add code inside Linux namespace rather than just use the namespace
- Declare a union pwm_params, that's only used to calculate at compile
time the maximum stack space we need in our methods: this is a bit
safer for future extensions
- Standardize error messages to include the useful params first and
then the error message
- Remove log message from hot path
- Don't abuse macros for checking error - convert the SNPRINTF_CHECK
macro into proper code, ignoring errors for not enough space since
they can't happen
- Fix call to read_file() passing uint8_t for "%u" in get_period()
- Fix passing char** instead of char* to write_file() in set_polarity()
- Use strncmp() instead of strncasecmp() since the kernel API uses
lowercase.
- Add comments on the 2 main methods of this class
47 lines
1.1 KiB
C++
47 lines
1.1 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include "AP_HAL_Linux.h"
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#include "Util.h"
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class Linux::PWM_Sysfs {
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public:
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PWM_Sysfs(uint8_t chip, uint8_t channel);
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~PWM_Sysfs();
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enum Polarity {
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NORMAL = 0,
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INVERSE = 1,
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};
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void enable(bool value);
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bool is_enabled();
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void set_period(uint32_t nsec_period);
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uint32_t get_period();
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void set_freq(uint32_t freq);
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uint32_t get_freq();
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/*
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* This is the main method, to be called on hot path. It doesn't log any
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* failure so not to risk flooding the log. If logging is necessary, check
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* the return value.
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*/
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bool set_duty_cycle(uint32_t nsec_duty_cycle);
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/*
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* This is supposed to be called in the hot path, so it returns the cached
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* value rather than getting it from hardware.
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*/
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uint32_t get_duty_cycle();
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void set_polarity(PWM_Sysfs::Polarity polarity);
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PWM_Sysfs::Polarity get_polarity();
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private:
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uint32_t _nsec_duty_cycle_value;
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int _duty_cycle_fd;
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const uint16_t _channel;
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const uint8_t _chip;
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};
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