ardupilot/libraries/AP_HAL_Linux/PWM_Sysfs.h

88 lines
2.3 KiB
C++

#pragma once
#include <AP_HAL/AP_HAL.h>
#include "AP_HAL_Linux.h"
#include "Util.h"
namespace Linux {
class PWM_Sysfs_Base {
public:
virtual ~PWM_Sysfs_Base();
enum Polarity {
NORMAL = 0,
INVERSE = 1,
};
void enable(bool value);
bool is_enabled();
void set_period(uint32_t nsec_period);
uint32_t get_period();
void set_freq(uint32_t freq);
uint32_t get_freq();
/*
* This is the main method, to be called on hot path. It doesn't log any
* failure so not to risk flooding the log. If logging is necessary, check
* the return value.
*/
bool set_duty_cycle(uint32_t nsec_duty_cycle);
/*
* This is supposed to be called in the hot path, so it returns the cached
* value rather than getting it from hardware.
*/
uint32_t get_duty_cycle();
virtual void set_polarity(PWM_Sysfs_Base::Polarity polarity);
virtual PWM_Sysfs_Base::Polarity get_polarity();
protected:
PWM_Sysfs_Base(char *export_path, char *polarity_path,
char *enable_path, char *duty_path,
char *period_path, uint8_t channel);
private:
uint32_t _nsec_duty_cycle_value = 0;
int _duty_cycle_fd = -1;
char *_export_path = NULL;
char *_polarity_path = NULL;
char *_enable_path = NULL;
char *_duty_path = NULL;
char *_period_path = NULL;
};
class PWM_Sysfs : public PWM_Sysfs_Base {
public:
PWM_Sysfs(uint8_t chip, uint8_t channel);
private:
char *_generate_export_path(uint8_t chip);
char *_generate_polarity_path(uint8_t chip, uint8_t channel);
char *_generate_enable_path(uint8_t chip, uint8_t channel);
char *_generate_duty_path(uint8_t chip, uint8_t channel);
char *_generate_period_path(uint8_t chip, uint8_t channel);
};
class PWM_Sysfs_Bebop : public PWM_Sysfs_Base {
public:
PWM_Sysfs_Bebop(uint8_t channel);
private:
char *_generate_export_path();
char *_generate_polarity_path(uint8_t channel);
char *_generate_enable_path(uint8_t channel);
char *_generate_duty_path(uint8_t channel);
char *_generate_period_path(uint8_t channel);
void set_polarity(PWM_Sysfs_Base::Polarity polarity) override { }
PWM_Sysfs_Base::Polarity get_polarity() override
{
return PWM_Sysfs::NORMAL;
}
};
}