#include <RCOutput_PCA9685.h>

Inheritance diagram for Linux::RCOutput_PCA9685:

Collaboration diagram for Linux::RCOutput_PCA9685:

Public Member Functions
	RCOutput_PCA9685 (AP_HAL::OwnPtr< AP_HAL::I2CDevice > dev, bool external_clock, uint8_t channel_offset, int16_t oe_pin_number)

	~RCOutput_PCA9685 ()

void	init ()

void	reset_all_channels ()

void	set_freq (uint32_t chmask, uint16_t freq_hz)

uint16_t	get_freq (uint8_t ch)

void	enable_ch (uint8_t ch)

void	disable_ch (uint8_t ch)

void	write (uint8_t ch, uint16_t period_us)

void	cork () override

void	push () override

uint16_t	read (uint8_t ch)

void	read (uint16_t *period_us, uint8_t len)

Public Member Functions inherited from AP_HAL::RCOutput
virtual uint16_t	read_last_sent (uint8_t ch)

virtual void	read_last_sent (uint16_t *period_us, uint8_t len)

virtual void	set_safety_pwm (uint32_t chmask, uint16_t period_us)

virtual void	set_failsafe_pwm (uint32_t chmask, uint16_t period_us)

virtual bool	force_safety_on (void)

virtual void	force_safety_off (void)

virtual void	force_safety_no_wait (void)

virtual void	set_esc_scaling (uint16_t min_pwm, uint16_t max_pwm)

virtual bool	get_esc_scaling (uint16_t &min_pwm, uint16_t &max_pwm)

virtual float	scale_esc_to_unity (uint16_t pwm)

virtual bool	enable_px4io_sbus_out (uint16_t rate_hz)

virtual void	timer_tick (void)

virtual bool	serial_setup_output (uint8_t chan, uint32_t baudrate)

virtual bool	serial_write_bytes (const uint8_t *bytes, uint16_t len)

virtual uint16_t	serial_read_bytes (uint8_t *buf, uint16_t len)

virtual void	serial_end (void)

virtual void	set_output_mode (uint16_t mask, enum output_mode mode)

virtual void	set_default_rate (uint16_t rate_hz)

virtual void	set_telem_request_mask (uint16_t mask)

Private Member Functions
void	reset ()

Private Attributes
AP_HAL::DigitalSource *	_enable_pin

AP_HAL::OwnPtr< AP_HAL::I2CDevice >	_dev

uint16_t	_frequency

float	_osc_clock

uint16_t *	_pulses_buffer

bool	_external_clock

bool	_corking = false

uint8_t	_channel_offset

int16_t	_oe_pin_number

uint16_t	_pending_write_mask

Additional Inherited Members
Public Types inherited from AP_HAL::RCOutput
enum	output_mode { MODE_PWM_NONE, MODE_PWM_NORMAL, MODE_PWM_ONESHOT, MODE_PWM_ONESHOT125, MODE_PWM_BRUSHED, MODE_PWM_DSHOT150, MODE_PWM_DSHOT300, MODE_PWM_DSHOT600, MODE_PWM_DSHOT1200 }

Detailed Description

Definition at line 15 of file RCOutput_PCA9685.h.

Constructor & Destructor Documentation

◆ RCOutput_PCA9685()

RCOutput_PCA9685::RCOutput_PCA9685	(	AP_HAL::OwnPtr< AP_HAL::I2CDevice >	dev,
		bool	external_clock,
		uint8_t	channel_offset,
		int16_t	oe_pin_number
	)

Definition at line 59 of file RCOutput_PCA9685.cpp.

◆ ~RCOutput_PCA9685()

RCOutput_PCA9685::~RCOutput_PCA9685 ( )

Definition at line 77 of file RCOutput_PCA9685.cpp.

Member Function Documentation

◆ cork()

void RCOutput_PCA9685::cork ( void )

overridevirtual

Implements AP_HAL::RCOutput.

Definition at line 185 of file RCOutput_PCA9685.cpp.

◆ disable_ch()

void RCOutput_PCA9685::disable_ch ( uint8_t ch )

virtual

Implements AP_HAL::RCOutput.

Definition at line 165 of file RCOutput_PCA9685.cpp.

Here is the call graph for this function:

◆ enable_ch()

void RCOutput_PCA9685::enable_ch ( uint8_t ch )

virtual

Implements AP_HAL::RCOutput.

Definition at line 160 of file RCOutput_PCA9685.cpp.

◆ get_freq()

uint16_t RCOutput_PCA9685::get_freq ( uint8_t ch )

virtual

Implements AP_HAL::RCOutput.

Definition at line 155 of file RCOutput_PCA9685.cpp.

◆ init()

void RCOutput_PCA9685::init ( void )

virtual

Implements AP_HAL::RCOutput.

Definition at line 82 of file RCOutput_PCA9685.cpp.

Here is the call graph for this function:

◆ push()

void RCOutput_PCA9685::push ( void )

overridevirtual

Implements AP_HAL::RCOutput.

Definition at line 190 of file RCOutput_PCA9685.cpp.

Referenced by write().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ read() [1/2]

uint16_t RCOutput_PCA9685::read ( uint8_t ch )

virtual

Implements AP_HAL::RCOutput.

Definition at line 241 of file RCOutput_PCA9685.cpp.

Referenced by read().

Here is the caller graph for this function:

◆ read() [2/2]

void RCOutput_PCA9685::read	(	uint16_t *	period_us,
		uint8_t	len
	)

virtual

Implements AP_HAL::RCOutput.

Definition at line 246 of file RCOutput_PCA9685.cpp.

Here is the call graph for this function:

◆ reset()

void Linux::RCOutput_PCA9685::reset ( )

private

◆ reset_all_channels()

void RCOutput_PCA9685::reset_all_channels ( )

Definition at line 97 of file RCOutput_PCA9685.cpp.

Referenced by init().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ set_freq()

void RCOutput_PCA9685::set_freq	(	uint32_t	chmask,
		uint16_t	freq_hz
	)

virtual

Implements AP_HAL::RCOutput.

Definition at line 112 of file RCOutput_PCA9685.cpp.

Referenced by init().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ write()

void RCOutput_PCA9685::write	(	uint8_t	ch,
		uint16_t	period_us
	)

virtual

Implements AP_HAL::RCOutput.

Definition at line 170 of file RCOutput_PCA9685.cpp.

Referenced by disable_ch(), and set_freq().

Here is the call graph for this function:

Here is the caller graph for this function:

Member Data Documentation

◆ _channel_offset

uint8_t Linux::RCOutput_PCA9685::_channel_offset

private

Definition at line 47 of file RCOutput_PCA9685.h.

Referenced by push(), set_freq(), and write().

◆ _corking

bool Linux::RCOutput_PCA9685::_corking = false

private

Definition at line 46 of file RCOutput_PCA9685.h.

Referenced by cork(), push(), and write().

◆ _dev

AP_HAL::OwnPtr<AP_HAL::I2CDevice> Linux::RCOutput_PCA9685::_dev

private

Definition at line 39 of file RCOutput_PCA9685.h.

Referenced by push(), reset_all_channels(), and set_freq().

◆ _enable_pin

AP_HAL::DigitalSource* Linux::RCOutput_PCA9685::_enable_pin

private

Definition at line 38 of file RCOutput_PCA9685.h.

Referenced by init().

◆ _external_clock

bool Linux::RCOutput_PCA9685::_external_clock

private

Definition at line 45 of file RCOutput_PCA9685.h.

Referenced by RCOutput_PCA9685(), and set_freq().

◆ _frequency

uint16_t Linux::RCOutput_PCA9685::_frequency

private

Definition at line 40 of file RCOutput_PCA9685.h.

Referenced by get_freq(), push(), and set_freq().

◆ _oe_pin_number

int16_t Linux::RCOutput_PCA9685::_oe_pin_number

private

Definition at line 48 of file RCOutput_PCA9685.h.

Referenced by init().

◆ _osc_clock

float Linux::RCOutput_PCA9685::_osc_clock

private

Definition at line 41 of file RCOutput_PCA9685.h.

Referenced by RCOutput_PCA9685(), and set_freq().

◆ _pending_write_mask

uint16_t Linux::RCOutput_PCA9685::_pending_write_mask

private

Definition at line 49 of file RCOutput_PCA9685.h.

Referenced by push(), and write().

◆ _pulses_buffer

uint16_t* Linux::RCOutput_PCA9685::_pulses_buffer

private

Definition at line 43 of file RCOutput_PCA9685.h.

Referenced by push(), read(), set_freq(), write(), and ~RCOutput_PCA9685().

The documentation for this class was generated from the following files:

libraries/AP_HAL_Linux/RCOutput_PCA9685.h
libraries/AP_HAL_Linux/RCOutput_PCA9685.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RCOutput_PCA9685()

◆ ~RCOutput_PCA9685()

Member Function Documentation

◆ cork()

◆ disable_ch()

◆ enable_ch()

◆ get_freq()

◆ init()

◆ push()

◆ read() [1/2]

◆ read() [2/2]

◆ reset()

◆ reset_all_channels()

◆ set_freq()

◆ write()

Member Data Documentation

◆ _channel_offset

◆ _corking

◆ _dev

◆ _enable_pin

◆ _external_clock

◆ _frequency

◆ _oe_pin_number

◆ _osc_clock

◆ _pending_write_mask

◆ _pulses_buffer