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https://github.com/ArduPilot/ardupilot
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a7de5e3d0f
The functions in RCOutput.cpp are defined to access PWM over PRU sysfs device from userspace using open, read, write and close methods.
28 lines
764 B
C++
28 lines
764 B
C++
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#ifndef __AP_HAL_LINUX_RCOUTPUT_H__
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#define __AP_HAL_LINUX_RCOUTPUT_H__
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#include <AP_HAL_Linux.h>
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#include <stdio.h>
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#include <iostream>
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#include <unistd.h>
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#include <dirent.h>
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#include <string.h>
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#include <stdlib.h>
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#include <fcntl.h>
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#include <inttypes.h>
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class Linux::LinuxRCOutput : public AP_HAL::RCOutput {
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void init(void* machtnichts);
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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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void write(uint8_t ch, uint16_t* period_us, uint8_t len);
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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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};
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#endif // __AP_HAL_LINUX_RCOUTPUT_H__
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