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29 lines
740 B
29 lines
740 B
#pragma once |
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#include "AP_HAL_Linux.h" |
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#include "PWM_Sysfs.h" |
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class Linux::RCOutput_Sysfs : public AP_HAL::RCOutput { |
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public: |
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RCOutput_Sysfs(uint8_t chip, 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(); |
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void set_freq(uint32_t chmask, uint16_t freq_hz); |
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uint16_t get_freq(uint8_t ch); |
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void enable_ch(uint8_t ch); |
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void disable_ch(uint8_t ch); |
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void write(uint8_t ch, uint16_t period_us); |
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uint16_t read(uint8_t ch); |
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void read(uint16_t *period_us, uint8_t len); |
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private: |
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const uint8_t _chip; |
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const uint8_t _channel_count; |
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PWM_Sysfs **_pwm_channels; |
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};
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