text: /****************************************************************************
   *
   *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
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   * Redistribution and use in source and binary forms, with or without
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   * are met:
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   * 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.
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   *    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
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   ****************************************************************************/
  
  #pragma once
  
  #include "common.h"
  
  namespace linux_pwm_out
  {
  
  /**
   ** class BBBlueRcPWMOut
   * PWM output class for BeagleBone Blue with Robotics Cape Library
   *
   * Ref: https://github.com/StrawsonDesign/Robotics_Cape_Installer
   *      http://www.strawsondesign.com/#!manual-servos
   */
  class BBBlueRcPWMOut : public PWMOutBase
  {
  public:
  	BBBlueRcPWMOut(int max_num_outputs);
  	virtual ~BBBlueRcPWMOut();
  
  	int init() override;
  
  	int send_output_pwm(const uint16_t *pwm, int num_outputs) override;
  
  private:
  	static const int MAX_NUM_PWM = 8;
  	static const int MIN_FREQUENCY_PWM = 40;
  
  	int _num_outputs;
  };
  
  }
  