PCA9685::PCA9685(int bus, uint8_t address) :
I2C("pca9685", PCA9685_DEVICE_PATH, bus, address, 100000),
_mode(IOX_MODE_OFF),
_running(false),
_i2cpwm_interval(SEC2TICK(1.0f / 60.0f)),
_should_run(false),
_comms_errors(perf_alloc(PC_COUNT, "actuator_controls_1_comms_errors")),
_control_subs{-1},
_poll_fds_num(0),
_armed_sub(-1),
_servo_armed(false),
_mixers(nullptr),
_groups_required(0),
_groups_subscribed(0),
_mode_on_initialized(false)
{
_control_topics[0] = ORB_ID(actuator_controls_0);
_control_topics[1] = ORB_ID(actuator_controls_1);
_control_topics[2] = ORB_ID(actuator_controls_2);
_control_topics[3] = ORB_ID(actuator_controls_3);
memset(&_work, 0, sizeof(_work));
memset(_msg, 0, sizeof(_msg));
memset(_controls, 0, sizeof(_controls));
memset(_poll_fds, 0, sizeof(_poll_fds));
memset(_outputs, 0, sizeof(_outputs));
memset(_rates, 0, sizeof(_rates));
}
PCA9685::PCA9685(int bus, uint8_t address) :
I2C("pca9685", PCA9685_DEVICE_PATH, bus, address, 100000),
_mode(IOX_MODE_OFF),
_running(false),
_i2cpwm_interval(SEC2TICK(1.0f/60.0f)),
_should_run(false),
_comms_errors(perf_alloc(PC_COUNT, "actuator_controls_2_comms_errors")),
_actuator_controls_sub(-1),
_actuator_controls(),
_mode_on_initialized(false)
{
memset(&_work, 0, sizeof(_work));
memset(_msg, 0, sizeof(_msg));
memset(_current_values, 0, sizeof(_current_values));
}
