mirror of https://github.com/ArduPilot/ardupilot
90 lines
2.3 KiB
C++
90 lines
2.3 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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namespace Linux {
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class PWM_Sysfs_Base {
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public:
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virtual ~PWM_Sysfs_Base();
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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 init();
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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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virtual void set_polarity(PWM_Sysfs_Base::Polarity polarity);
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virtual PWM_Sysfs_Base::Polarity get_polarity();
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protected:
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PWM_Sysfs_Base(char *export_path, char *polarity_path,
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char *enable_path, char *duty_path,
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char *period_path, uint8_t channel);
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private:
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uint32_t _nsec_duty_cycle_value = 0;
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int _duty_cycle_fd = -1;
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uint8_t _channel;
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char *_export_path = nullptr;
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char *_polarity_path = nullptr;
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char *_enable_path = nullptr;
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char *_duty_path = nullptr;
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char *_period_path = nullptr;
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};
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class PWM_Sysfs : public PWM_Sysfs_Base {
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public:
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PWM_Sysfs(uint8_t chip, uint8_t channel);
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private:
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char *_generate_export_path(uint8_t chip);
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char *_generate_polarity_path(uint8_t chip, uint8_t channel);
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char *_generate_enable_path(uint8_t chip, uint8_t channel);
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char *_generate_duty_path(uint8_t chip, uint8_t channel);
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char *_generate_period_path(uint8_t chip, uint8_t channel);
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};
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class PWM_Sysfs_Bebop : public PWM_Sysfs_Base {
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public:
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PWM_Sysfs_Bebop(uint8_t channel);
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private:
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char *_generate_export_path();
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char *_generate_polarity_path(uint8_t channel);
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char *_generate_enable_path(uint8_t channel);
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char *_generate_duty_path(uint8_t channel);
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char *_generate_period_path(uint8_t channel);
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void set_polarity(PWM_Sysfs_Base::Polarity polarity) override { }
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PWM_Sysfs_Base::Polarity get_polarity() override
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{
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return PWM_Sysfs::NORMAL;
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}
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};
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}
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