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HAL_Linux: Enable external clk for RCOutput_Navio 

That should fix PWM value drifts.
This commit is contained in:
Mikhail Avkhimenia 2014-11-17 13:10:12 +03:00 committed by Andrew Tridgell
parent d0087c91e9
commit 50459bdca0
1 changed files with 12 additions and 18 deletions
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30
libraries/AP_HAL_Linux/RCOutput_Navio.cpp
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@ -31,21 +31,6 @@ void LinuxRCOutput_Navio::init(void* machtnicht)
// Set the initial frequency
set_freq(0, 50);
if (!_i2c_sem->take(10)){
hal.scheduler->panic(PSTR("PANIC: RCOutput_Navio: failed to take "
"I2C semaphore for init"));
return; /* never reached */
}
// Turn the LED green
uint8_t ledoff[4] = {0x00, 0x00, 4095 & 0xFF, 4095 >> 8};
hal.i2c->writeRegisters(PCA9685_ADDRESS, PCA9685_RA_LED0_ON_L, 4, ledoff);
hal.i2c->writeRegisters(PCA9685_ADDRESS, PCA9685_RA_LED0_ON_L + 8, 4, ledoff);
uint8_t ledslightlyon[4] = {0x00, 0x00, 3500 & 0xFF, 3500 >> 8};
hal.i2c->writeRegisters(PCA9685_ADDRESS, PCA9685_RA_LED0_ON_L + 4, 4, ledslightlyon);
_i2c_sem->give();
}
void LinuxRCOutput_Navio::set_freq(uint32_t chmask, uint16_t freq_hz)
@ -54,11 +39,20 @@ void LinuxRCOutput_Navio::set_freq(uint32_t chmask, uint16_t freq_hz)
return;
}
uint8_t prescale = round(25000000.f / 4096.f / freq_hz) - 1;
// Put PCA9685 to sleep (required to write prescaler)
hal.i2c->writeRegister(PCA9685_ADDRESS, PCA9685_RA_MODE1, PCA9685_MODE1_SLEEP_BIT);
// Calculate and write prescale value to match frequency
uint8_t prescale = round(24576000.f / 4096.f / freq_hz) - 1;
hal.i2c->writeRegister(PCA9685_ADDRESS, PCA9685_RA_PRE_SCALE, prescale);
hal.i2c->writeRegister(PCA9685_ADDRESS, PCA9685_RA_MODE1, 0x00);
// Enable external clocking
hal.i2c->writeRegister(PCA9685_ADDRESS, PCA9685_RA_MODE1,
PCA9685_MODE1_RESTART_BIT | PCA9685_MODE1_AI_BIT);
PCA9685_MODE1_SLEEP_BIT | PCA9685_MODE1_EXTCLK_BIT);
// Restart the device to apply new settings and enable auto-incremented write
hal.i2c->writeRegister(PCA9685_ADDRESS, PCA9685_RA_MODE1,
PCA9685_MODE1_RESTART_BIT | PCA9685_MODE1_AI_BIT);
_frequency = freq_hz;
_i2c_sem->give();