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54 lines
1.5 KiB
54 lines
1.5 KiB
#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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uint32_t 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() override; |
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void reset_all_channels(); |
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void set_freq(uint32_t chmask, uint16_t freq_hz) override; |
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uint16_t get_freq(uint8_t ch) override; |
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void enable_ch(uint8_t ch) override; |
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void disable_ch(uint8_t ch) override; |
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bool force_safety_on() override; |
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void force_safety_off() override; |
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void write(uint8_t ch, uint16_t period_us) override; |
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void cork() override; |
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void push() override; |
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uint16_t read(uint8_t ch) override; |
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void read(uint16_t* period_us, uint8_t len) override; |
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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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uint32_t _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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