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53 lines
1.7 KiB
53 lines
1.7 KiB
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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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uint16_t _frequency; |
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}; |
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#endif // __AP_HAL_LINUX_RCOUTPUT_NAVIO_H__
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