mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 14:38:30 -04:00
AP_HAL_Linux: enable output for PCA9685 PWM in NavioRCOuput
This commit is contained in:
parent
c9b7d27b98
commit
2b589d4604
@ -1,7 +1,8 @@
|
|||||||
|
|
||||||
#include <AP_HAL.h>
|
#include <AP_HAL.h>
|
||||||
|
#include "GPIO.h"
|
||||||
|
|
||||||
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
|
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
|
||||||
|
|
||||||
#include "RCOutput_Navio.h"
|
#include "RCOutput_Navio.h"
|
||||||
#include <sys/types.h>
|
#include <sys/types.h>
|
||||||
@ -17,6 +18,7 @@
|
|||||||
using namespace Linux;
|
using namespace Linux;
|
||||||
|
|
||||||
#define PWM_CHAN_COUNT 13
|
#define PWM_CHAN_COUNT 13
|
||||||
|
#define PCA9685_OUTPUT_ENABLE RPI_GPIO_27
|
||||||
|
|
||||||
static const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
|
static const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
|
||||||
|
|
||||||
@ -28,7 +30,12 @@ void LinuxRCOutput_Navio::init(void* machtnicht)
|
|||||||
"valid I2C semaphore!"));
|
"valid I2C semaphore!"));
|
||||||
return; // never reached
|
return; // never reached
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/* Enable PCA9685 PWM */
|
||||||
|
enable_pin = hal.gpio->channel(PCA9685_OUTPUT_ENABLE);
|
||||||
|
enable_pin->mode(HAL_GPIO_OUTPUT);
|
||||||
|
enable_pin->write(0);
|
||||||
|
|
||||||
// Set the initial frequency
|
// Set the initial frequency
|
||||||
set_freq(0, 50);
|
set_freq(0, 50);
|
||||||
}
|
}
|
||||||
|
@ -47,6 +47,7 @@ class Linux::LinuxRCOutput_Navio : public AP_HAL::RCOutput {
|
|||||||
private:
|
private:
|
||||||
void reset();
|
void reset();
|
||||||
AP_HAL::Semaphore *_i2c_sem;
|
AP_HAL::Semaphore *_i2c_sem;
|
||||||
|
AP_HAL::DigitalSource *enable_pin;
|
||||||
uint16_t _frequency;
|
uint16_t _frequency;
|
||||||
};
|
};
|
||||||
|
|
||||||
|
Loading…
Reference in New Issue
Block a user