spdis
86 lines
2.2 KiB
C++
86 lines
2.2 KiB
C++
/*
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* @Author: ilikara 3435193369@qq.com
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* @Date: 2024-09-17 08:21:50
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* @LastEditors: ilikara 3435193369@qq.com
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* @LastEditTime: 2025-03-20 12:03:51
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* @FilePath: /smartcar/src/PwmController.cpp
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* @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
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*/
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#include "PwmController.h"
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#include <fcntl.h>
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#include <unistd.h>
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PwmController::PwmController(int pwmchip, int pwmnum, bool polarity)
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: pwmchip(pwmchip), pwmnum(pwmnum)
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{
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initialize();
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pwmPath = "/sys/class/pwm/pwmchip" + std::to_string(pwmchip) + "/pwm" + std::to_string(pwmnum) + "/";
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setPolarity(polarity);
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}
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PwmController::~PwmController()
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{
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disable(); // 析构时自动禁用PWM
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}
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int PwmController::readPeriod()
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{
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return period;
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}
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int PwmController::readDutyCycle()
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{
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return duty_cycle;
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}
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// 初始化PWM设备
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bool PwmController::initialize()
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{
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std::string exportPath = "/sys/class/pwm/pwmchip" + std::to_string(pwmchip) + "/export";
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return writeToFile(exportPath, std::to_string(pwmnum));
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}
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// 启用PWM
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bool PwmController::enable()
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{
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return writeToFile(pwmPath + "enable", std::to_string(1));
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}
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// 禁用PWM
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bool PwmController::disable()
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{
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return writeToFile(pwmPath + "enable", std::to_string(0));
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}
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// 设置周期（以纳秒为单位）
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bool PwmController::setPeriod(unsigned int period_ns)
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{
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period = period_ns;
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return writeToFile(pwmPath + "period", std::to_string(period_ns));
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}
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// 设置低电平时间（以纳秒为单位）
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bool PwmController::setDutyCycle(unsigned int duty_cycle_ns)
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{
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duty_cycle = duty_cycle_ns;
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return writeToFile(pwmPath + "duty_cycle", std::to_string(duty_cycle_ns));
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}
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// 设置极性
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bool PwmController::setPolarity(bool polarity)
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{
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return writeToFile(pwmPath + "polarity", polarity ? "normal" : "inversed");
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}
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bool PwmController::writeToFile(const std::string &path, const std::string &value)
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{
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int fd = open(path.c_str(), O_WRONLY);
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if (fd == -1)
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{
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return false;
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}
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ssize_t n = write(fd, value.c_str(), value.size());
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close(fd);
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return (n == static_cast<ssize_t>(value.size()));
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}
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