mirror of https://github.com/ArduPilot/ardupilot
55 lines
1.8 KiB
C++
55 lines
1.8 KiB
C++
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#ifndef __AP_HAL_LINUX_RCOUTPUT_NAVIO_H__
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#define __AP_HAL_LINUX_RCOUTPUT_NAVIO_H__
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#include <AP_HAL_Linux.h>
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#define PCA9685_ADDRESS 0x40 // All address pins low, Navio default
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#define PCA9685_RA_MODE1 0x00
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#define PCA9685_RA_MODE2 0x01
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#define PCA9685_RA_LED0_ON_L 0x06
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#define PCA9685_RA_LED0_ON_H 0x07
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#define PCA9685_RA_LED0_OFF_L 0x08
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#define PCA9685_RA_LED0_OFF_H 0x09
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#define PCA9685_RA_ALL_LED_ON_L 0xFA
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#define PCA9685_RA_ALL_LED_ON_H 0xFB
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#define PCA9685_RA_ALL_LED_OFF_L 0xFC
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#define PCA9685_RA_ALL_LED_OFF_H 0xFD
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#define PCA9685_RA_PRE_SCALE 0xFE
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#define PCA9685_MODE1_RESTART_BIT 1<<7
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#define PCA9685_MODE1_EXTCLK_BIT 1<<6
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#define PCA9685_MODE1_AI_BIT 1<<5
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#define PCA9685_MODE1_SLEEP_BIT 1<<4
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#define PCA9685_MODE1_SUB1_BIT 1<<3
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#define PCA9685_MODE1_SUB2_BIT 1<<2
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#define PCA9685_MODE1_SUB3_BIT 1<<1
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#define PCA9685_MODE1_ALLCALL_BIT 1<<0
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#define PCA9685_MODE2_INVRT_BIT 1<<4
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#define PCA9685_MODE2_OCH_BIT 1<<3
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#define PCA9685_MODE2_OUTDRV_BIT 1<<2
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#define PCA9685_MODE2_OUTNE1_BIT 1<<1
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#define PCA9685_MODE2_OUTNE0_BIT 1<<0
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class Linux::LinuxRCOutput_Navio : public AP_HAL::RCOutput {
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void init(void* machtnichts);
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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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};
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#endif // __AP_HAL_LINUX_RCOUTPUT_NAVIO_H__
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