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41 lines
1.0 KiB
41 lines
1.0 KiB
#pragma once |
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#include "AP_HAL_Linux.h" |
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#include "PWM_Sysfs.h" |
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namespace Linux { |
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class RCOutput_Sysfs : public AP_HAL::RCOutput { |
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public: |
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RCOutput_Sysfs(uint8_t chip, uint8_t channel_base, uint8_t channel_count); |
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~RCOutput_Sysfs(); |
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static RCOutput_Sysfs *from(AP_HAL::RCOutput *rcoutput) |
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{ |
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return static_cast<RCOutput_Sysfs *>(rcoutput); |
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} |
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void init() override; |
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void set_freq(uint32_t chmask, uint16_t freq_hz) override; |
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uint16_t get_freq(uint8_t ch) override; |
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void enable_ch(uint8_t ch) override; |
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void disable_ch(uint8_t ch) override; |
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void write(uint8_t ch, uint16_t period_us) override; |
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uint16_t read(uint8_t ch) override; |
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void read(uint16_t *period_us, uint8_t len) override; |
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void cork(void) override; |
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void push(void) override; |
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private: |
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const uint8_t _chip; |
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const uint8_t _channel_base; |
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const uint8_t _channel_count; |
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PWM_Sysfs_Base **_pwm_channels; |
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// for handling cork()/push() |
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bool _corked; |
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uint16_t *_pending; |
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uint32_t _pending_mask; |
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}; |
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}
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