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RCOutput_PCA9685.h
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RCOutput_PCA9685.h
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#pragma once
#include <AP_HAL/I2CDevice.h>
#include "AP_HAL_Linux.h"
#define PCA9685_PRIMARY_ADDRESS 0x40 // All address pins low, PCA9685 default
#define PCA9685_SECONDARY_ADDRESS 0x41
#define PCA9685_TERTIARY_ADDRESS 0x42
#define PCA9685_QUATENARY_ADDRESS 0x55
#define PCA9685_QUINARY_ADDRESS 0x61
namespace Linux {
class RCOutput_PCA9685 : public AP_HAL::RCOutput {
public:
RCOutput_PCA9685(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
uint32_t external_clock,
uint8_t channel_offset,
int16_t oe_pin_number);
~RCOutput_PCA9685();
void init() override;
void reset_all_channels();
void set_freq(uint32_t chmask, uint16_t freq_hz) override;
uint16_t get_freq(uint8_t ch) override;
void enable_ch(uint8_t ch) override;
void disable_ch(uint8_t ch) override;
bool force_safety_on() override;
void force_safety_off() override;
void write(uint8_t ch, uint16_t period_us) override;
void cork() override;
void push() override;
uint16_t read(uint8_t ch) override;
void read(uint16_t* period_us, uint8_t len) override;
private:
void reset();
AP_HAL::DigitalSource *_enable_pin;
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
uint16_t _frequency;
float _osc_clock;
uint16_t *_pulses_buffer;
uint32_t _external_clock;
bool _corking = false;
uint8_t _channel_offset;
int16_t _oe_pin_number;
uint16_t _pending_write_mask;
};
}