board_pwm_out.cpp
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/****************************************************************************
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef MODULE_NAME
#define MODULE_NAME "bbblue_pwm_out"
#endif
#include <fcntl.h>
#include <errno.h>
#include <px4_platform_common/log.h>
#include <robotcontrol.h>
#include <board_config.h>
#include "board_pwm_out.h"
using namespace pwm_out;
BBBlueRcPWMOut::BBBlueRcPWMOut(int max_num_outputs) : _num_outputs(max_num_outputs)
{
if (_num_outputs > MAX_NUM_PWM) {
PX4_WARN("number of outputs too large. Setting to %i", MAX_NUM_PWM);
_num_outputs = MAX_NUM_PWM;
}
}
BBBlueRcPWMOut::~BBBlueRcPWMOut()
{
rc_cleaning();
}
int BBBlueRcPWMOut::init()
{
rc_init();
return 0;
}
int BBBlueRcPWMOut::send_output_pwm(const uint16_t *pwm, int num_outputs)
{
if (num_outputs > _num_outputs) {
num_outputs = _num_outputs;
}
int ret = 0;
// pwm[ch] is duty_cycle in us
for (int ch = 0; ch < num_outputs; ++ch) {
ret += rc_servo_send_pulse_us(ch + 1, pwm[ch]); // converts to 1-based channel #
}
return ret;
}