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executable file 47 lines (40 sloc) 1.76 KB
/* Copyright (c) 2013 Owen McAree
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#ifndef pruPWM_h
#define pruPWM_h
#include <limits.h>
#include "pru.h"
class PRUPWM : private PRU {
public:
PRUPWM(unsigned int frequency = 50);
void start();
using PRU::stop;
void setFrequency(unsigned int frequency);
void setChannelValue(unsigned int channel, unsigned long pwm_ns);
void setFailsafeValue(unsigned int channel, unsigned long pwm_ns);
void setFailsafeTimeout(unsigned int timeout_ms);
private:
void setPRUDuty(unsigned int channel, unsigned long pwm_ns);
void updateFailsafe();
static const unsigned int nanosecondsPerCycle = 95;
unsigned int pwmFrequency;
unsigned int failsafeTimeout;
};
#endif