mirror of https://github.com/ArduPilot/ardupilot
90 lines
1.8 KiB
C++
90 lines
1.8 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include "RCOutput.h"
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <drivers/drv_pwm_output.h>
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extern const AP_HAL::HAL& hal;
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using namespace PX4;
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void PX4RCOutput::init(void* unused)
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{
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_pwm_fd = open(PWM_OUTPUT_DEVICE_PATH, O_RDWR);
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if (_pwm_fd == -1) {
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hal.scheduler->panic("Unable to open " PWM_OUTPUT_DEVICE_PATH);
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}
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ioctl(_pwm_fd, PWM_SERVO_ARM, 0);
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}
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void PX4RCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
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{
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// we can't set this per channel yet
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if (ioctl(_pwm_fd, PWM_SERVO_SET_UPDATE_RATE, (unsigned long)freq_hz) == 0) {
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_freq_hz = freq_hz;
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}
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}
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uint16_t PX4RCOutput::get_freq(uint8_t ch)
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{
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return _freq_hz;
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}
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void PX4RCOutput::enable_ch(uint8_t ch)
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{
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// channels are always enabled ...
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}
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void PX4RCOutput::enable_mask(uint32_t chmask)
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{
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// channels are always enabled ...
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}
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void PX4RCOutput::disable_ch(uint8_t ch)
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{
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// channels are always enabled ...
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}
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void PX4RCOutput::disable_mask(uint32_t chmask)
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{
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// channels are always enabled ...
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}
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void PX4RCOutput::write(uint8_t ch, uint16_t period_us)
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{
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ioctl(_pwm_fd, PWM_SERVO_SET(ch), (unsigned long)period_us);
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}
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void PX4RCOutput::write(uint8_t ch, uint16_t* period_us, uint8_t len)
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{
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for (uint8_t i=0; i<len; i++) {
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write(i, period_us[i]);
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}
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}
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uint16_t PX4RCOutput::read(uint8_t ch)
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{
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servo_position_t pos;
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if (ioctl(_pwm_fd, PWM_SERVO_GET(ch), (unsigned long)&pos) == 0) {
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return pos;
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}
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return 0;
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}
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void PX4RCOutput::read(uint16_t* period_us, uint8_t len)
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{
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for (uint8_t i=0; i<len; i++) {
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period_us[i] = read(i);
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}
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}
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#endif // CONFIG_HAL_BOARD
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