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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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439fb00aed
This also removes the pca9685 output, which was unused, and there's also pca9685_pwm_out.
85 lines
2.6 KiB
C++
85 lines
2.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#ifndef MODULE_NAME
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#define MODULE_NAME "bbblue_pwm_out"
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#endif
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#include <fcntl.h>
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#include <errno.h>
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#include <px4_platform_common/log.h>
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#include <robotcontrol.h>
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#include <board_config.h>
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#include "board_pwm_out.h"
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using namespace pwm_out;
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BBBlueRcPWMOut::BBBlueRcPWMOut(int max_num_outputs) : _num_outputs(max_num_outputs)
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{
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if (_num_outputs > MAX_NUM_PWM) {
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PX4_WARN("number of outputs too large. Setting to %i", MAX_NUM_PWM);
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_num_outputs = MAX_NUM_PWM;
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}
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}
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BBBlueRcPWMOut::~BBBlueRcPWMOut()
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{
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rc_cleaning();
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}
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int BBBlueRcPWMOut::init()
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{
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rc_init();
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return 0;
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}
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int BBBlueRcPWMOut::send_output_pwm(const uint16_t *pwm, int num_outputs)
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{
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if (num_outputs > _num_outputs) {
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num_outputs = _num_outputs;
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}
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int ret = 0;
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// pwm[ch] is duty_cycle in us
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for (int ch = 0; ch < num_outputs; ++ch) {
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ret += rc_servo_send_pulse_us(ch + 1, pwm[ch]); // converts to 1-based channel #
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}
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return ret;
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}
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