ardupilot/libraries/AP_HAL_Linux/RCOutput_Sysfs.h

35 lines
815 B
C++

#pragma once
#include "AP_HAL_Linux.h"
#include "PWM_Sysfs.h"
namespace Linux {
class RCOutput_Sysfs : public AP_HAL::RCOutput {
public:
RCOutput_Sysfs(uint8_t chip, uint8_t channel_base, uint8_t channel_count);
~RCOutput_Sysfs();
static RCOutput_Sysfs *from(AP_HAL::RCOutput *rcoutput)
{
return static_cast<RCOutput_Sysfs *>(rcoutput);
}
void init();
void set_freq(uint32_t chmask, uint16_t freq_hz);
uint16_t get_freq(uint8_t ch);
void enable_ch(uint8_t ch);
void disable_ch(uint8_t ch);
void write(uint8_t ch, uint16_t period_us);
uint16_t read(uint8_t ch);
void read(uint16_t *period_us, uint8_t len);
private:
const uint8_t _chip;
const uint8_t _channel_base;
const uint8_t _channel_count;
PWM_Sysfs_Base **_pwm_channels;
};
}