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46 lines
1.3 KiB
46 lines
1.3 KiB
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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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#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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class Linux::RCOutput_PCA9685 : public AP_HAL::RCOutput { |
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public: |
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RCOutput_PCA9685(uint8_t addr, bool external_clock, 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(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 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::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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uint8_t _addr; |
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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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#endif // __AP_HAL_LINUX_RCOUTPUT_PCA9685_H__
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