bbblue_pwm_rc.cpp

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#ifdef __PX4_POSIX_BBBLUE

#include <fcntl.h>
#include <errno.h>
#include <px4_platform_common/log.h>

#include <robotcontrol.h>
#include <board_config.h>

#include "bbblue_pwm_rc.h"

using namespace linux_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;
}

#endif  // __PX4_POSIX_BBBLUE