99 lines
2.0 KiB
C++
99 lines
2.0 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#include <AP_HAL.h>
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
|
|
#include "RCOutput.h"
|
|
|
|
#include <sys/types.h>
|
|
#include <sys/stat.h>
|
|
#include <fcntl.h>
|
|
#include <unistd.h>
|
|
|
|
#include <drivers/drv_pwm_output.h>
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
using namespace PX4;
|
|
|
|
void PX4RCOutput::init(void* unused)
|
|
{
|
|
_pwm_fd = open(PWM_OUTPUT_DEVICE_PATH, O_RDWR);
|
|
if (_pwm_fd == -1) {
|
|
hal.scheduler->panic("Unable to open " PWM_OUTPUT_DEVICE_PATH);
|
|
}
|
|
ioctl(_pwm_fd, PWM_SERVO_ARM, 0);
|
|
}
|
|
|
|
void PX4RCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
|
|
{
|
|
if (freq_hz == _freq_hz) {
|
|
// avoid the ioctl() if possible
|
|
return;
|
|
}
|
|
// we can't set this per channel yet
|
|
if (ioctl(_pwm_fd, PWM_SERVO_SET_UPDATE_RATE, (unsigned long)freq_hz) == 0) {
|
|
_freq_hz = freq_hz;
|
|
}
|
|
}
|
|
|
|
uint16_t PX4RCOutput::get_freq(uint8_t ch)
|
|
{
|
|
return _freq_hz;
|
|
}
|
|
|
|
void PX4RCOutput::enable_ch(uint8_t ch)
|
|
{
|
|
// channels are always enabled ...
|
|
}
|
|
|
|
void PX4RCOutput::enable_mask(uint32_t chmask)
|
|
{
|
|
// channels are always enabled ...
|
|
}
|
|
|
|
void PX4RCOutput::disable_ch(uint8_t ch)
|
|
{
|
|
// channels are always enabled ...
|
|
}
|
|
|
|
void PX4RCOutput::disable_mask(uint32_t chmask)
|
|
{
|
|
// channels are always enabled ...
|
|
}
|
|
|
|
void PX4RCOutput::write(uint8_t ch, uint16_t period_us)
|
|
{
|
|
if (ch >= PX4_NUM_OUTPUT_CHANNELS) {
|
|
return;
|
|
}
|
|
if (period_us != _period[ch]) {
|
|
ioctl(_pwm_fd, PWM_SERVO_SET(ch), (unsigned long)period_us);
|
|
_period[ch] = period_us;
|
|
}
|
|
}
|
|
|
|
void PX4RCOutput::write(uint8_t ch, uint16_t* period_us, uint8_t len)
|
|
{
|
|
for (uint8_t i=0; i<len; i++) {
|
|
write(i, period_us[i]);
|
|
}
|
|
}
|
|
|
|
uint16_t PX4RCOutput::read(uint8_t ch)
|
|
{
|
|
if (ch >= PX4_NUM_OUTPUT_CHANNELS) {
|
|
return 0;
|
|
}
|
|
return _period[ch];
|
|
}
|
|
|
|
void PX4RCOutput::read(uint16_t* period_us, uint8_t len)
|
|
{
|
|
for (uint8_t i=0; i<len; i++) {
|
|
period_us[i] = read(i);
|
|
}
|
|
}
|
|
|
|
#endif // CONFIG_HAL_BOARD
|