mirror of https://github.com/ArduPilot/ardupilot
39 lines
1.1 KiB
C++
39 lines
1.1 KiB
C++
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#ifndef __AP_HAL_LINUX_RCOUTPUT_PCA9685_H__
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#define __AP_HAL_LINUX_RCOUTPUT_PCA9685_H__
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#include "AP_HAL_Linux.h"
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class Linux::LinuxRCOutput_PCA9685 : public AP_HAL::RCOutput {
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public:
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LinuxRCOutput_PCA9685(bool external_clock, uint8_t channel_offset,
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uint8_t oe_pin_number);
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~LinuxRCOutput_PCA9685();
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void init(void* machtnichts);
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void reset_all_channels();
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void set_freq(uint32_t chmask, uint16_t freq_hz);
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uint16_t get_freq(uint8_t ch);
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void enable_ch(uint8_t ch);
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void disable_ch(uint8_t ch);
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void write(uint8_t ch, uint16_t period_us);
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void write(uint8_t ch, uint16_t* period_us, uint8_t len);
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uint16_t read(uint8_t ch);
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void read(uint16_t* period_us, uint8_t len);
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private:
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void reset();
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AP_HAL::Semaphore *_i2c_sem;
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AP_HAL::DigitalSource *_enable_pin;
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uint16_t _frequency;
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float _osc_clock;
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uint16_t *_pulses_buffer;
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bool _external_clock;
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uint8_t _channel_offset;
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uint8_t _oe_pin_number;
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};
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#endif // __AP_HAL_LINUX_RCOUTPUT_PCA9685_H__
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