board_pwm_out.h
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/****************************************************************************
*
* Copyright (c) 2017 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.
*
****************************************************************************/
#pragma once
#include <px4_platform/pwm_out_base.h>
#define BOARD_PWM_OUT_IMPL NavioSysfsPWMOut
namespace pwm_out
{
/**
** class NavioSysfsPWMOut
* PWM output class for Navio Sysfs
*/
class NavioSysfsPWMOut : public PWMOutBase
{
public:
NavioSysfsPWMOut(int max_num_outputs);
virtual ~NavioSysfsPWMOut();
int init() override;
int send_output_pwm(const uint16_t *pwm, int num_outputs) override;
private:
int pwm_write_sysfs(char *path, int value);
static const int MAX_NUM_PWM = 14;
static const int FREQUENCY_PWM = 400;
int _pwm_fd[MAX_NUM_PWM];
int _pwm_num;
static const char _device[];
};
}