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AP_HAL_Linux: Enable use of all 16 channels for non-Navio PCA9685.

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This commit is contained in:
Fredrik Hedberg 2015-09-08 08:32:32 +02:00 committed by Andrew Tridgell
parent e734e9745d
commit 21b9f96ce3
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_HAL_Linux/RCOutput_PCA9685.cpp
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@ -54,7 +54,7 @@
using namespace Linux; using namespace Linux;
#define PWM_CHAN_COUNT 13 #define PWM_CHAN_COUNT 16
static const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER; static const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
@ -64,7 +64,7 @@ LinuxRCOutput_PCA9685::LinuxRCOutput_PCA9685(bool external_clock,
_i2c_sem(NULL), _i2c_sem(NULL),
_enable_pin(NULL), _enable_pin(NULL),
_frequency(50), _frequency(50),
_pulses_buffer(new uint16_t[PWM_CHAN_COUNT]), _pulses_buffer(new uint16_t[PWM_CHAN_COUNT - channel_offset]),
_external_clock(external_clock), _external_clock(external_clock),
_channel_offset(channel_offset), _channel_offset(channel_offset),
_oe_pin_number(oe_pin_number) _oe_pin_number(oe_pin_number)
@ -119,7 +119,7 @@ void LinuxRCOutput_PCA9685::set_freq(uint32_t chmask, uint16_t freq_hz)
{ {
/* Correctly finish last pulses */ /* Correctly finish last pulses */
for (int i = 0; i < PWM_CHAN_COUNT; i++) { for (int i = 0; i < (PWM_CHAN_COUNT - _channel_offset); i++) {
write(i, _pulses_buffer[i]); write(i, _pulses_buffer[i]);
} }
@ -175,7 +175,7 @@ void LinuxRCOutput_PCA9685::disable_ch(uint8_t ch)
void LinuxRCOutput_PCA9685::write(uint8_t ch, uint16_t period_us) void LinuxRCOutput_PCA9685::write(uint8_t ch, uint16_t period_us)
{ {
if(ch >= PWM_CHAN_COUNT){ if (ch >= (PWM_CHAN_COUNT - _channel_offset)) {
return; return;
} }