ardupilot/libraries/AP_HAL_Linux/RCOutput_PCA9685.h

47 lines
1.3 KiB
C
Raw Normal View History

#ifndef __AP_HAL_LINUX_RCOUTPUT_PCA9685_H__
#define __AP_HAL_LINUX_RCOUTPUT_PCA9685_H__
#include "AP_HAL_Linux.h"
#define PCA9685_PRIMARY_ADDRESS 0x40 // All address pins low, PCA9685 default
#define PCA9685_SECONDARY_ADDRESS 0x41
#define PCA9685_TERTIARY_ADDRESS 0x42
class Linux::RCOutput_PCA9685 : public AP_HAL::RCOutput {
public:
RCOutput_PCA9685(uint8_t addr, bool external_clock, uint8_t channel_offset,
int16_t oe_pin_number);
~RCOutput_PCA9685();
void init(void* machtnichts);
void reset_all_channels();
void set_freq(uint32_t chmask, uint16_t freq_hz);
uint16_t get_freq(uint8_t ch);
void enable_ch(uint8_t ch);
void disable_ch(uint8_t ch);
void write(uint8_t ch, uint16_t period_us);
void cork() override;
void push() override;
uint16_t read(uint8_t ch);
void read(uint16_t* period_us, uint8_t len);
private:
void reset();
AP_HAL::Semaphore *_i2c_sem;
AP_HAL::DigitalSource *_enable_pin;
uint16_t _frequency;
float _osc_clock;
uint16_t *_pulses_buffer;
uint8_t _addr;
bool _external_clock;
bool _corking = false;
uint8_t _channel_offset;
int16_t _oe_pin_number;
uint16_t _pending_write_mask;
};
#endif // __AP_HAL_LINUX_RCOUTPUT_PCA9685_H__