mirror of https://github.com/ArduPilot/ardupilot
53 lines
1.4 KiB
C++
53 lines
1.4 KiB
C++
#pragma once
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#include <AP_HAL/I2CDevice.h>
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#include "AP_HAL_Linux.h"
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#define PCA9685_PRIMARY_ADDRESS 0x40 // All address pins low, PCA9685 default
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#define PCA9685_SECONDARY_ADDRESS 0x41
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#define PCA9685_TERTIARY_ADDRESS 0x42
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#define PCA9685_QUATENARY_ADDRESS 0x55
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#define PCA9685_QUINARY_ADDRESS 0x61
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namespace Linux {
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class RCOutput_PCA9685 : public AP_HAL::RCOutput {
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public:
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RCOutput_PCA9685(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
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bool external_clock,
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uint8_t channel_offset,
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int16_t oe_pin_number);
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~RCOutput_PCA9685();
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void init();
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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 cork() override;
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void push() override;
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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::DigitalSource *_enable_pin;
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
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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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bool _corking = false;
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uint8_t _channel_offset;
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int16_t _oe_pin_number;
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uint16_t _pending_write_mask;
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};
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}
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