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bug fix and board update.

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This commit is contained in:
Benjamin Perseghetti
2022-06-02 18:02:11 -04:00
parent d79c829e08
commit 38a3e000cf
2 changed files with 17 additions and 23 deletions
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boards/nxp/ucans32k146/pca9685.px4board
+1
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@@ -0,0 +1 @@
CONFIG_DRIVERS_PCA9685_UCAN=y
src/drivers/pca9685_ucan/pca9685_ucan.cpp
+16 -23
View File
@@ -71,6 +71,7 @@
#include <systemlib/err.h>
#include <uORB/uORB.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/pca_pwm.h>
#include <board_config.h>
@@ -127,11 +128,8 @@ private:
int _pca_pwm_sub;
struct pca_pwm_s _pca_pwm;
uint16_t _pwm_period_us = 20000;
float _pwm_freq = 50;
uint16_t _pwm_center = 1500;
uint16_t _pwm_min = 900;
uint16_t _test_pwm = _pwm_min;
uint16_t _pwm_max = 2200;
float _pwm_freq = 50.0f;
uint16_t _test_pwm = 0;
uint16_t _current_values[NUMBER_PWM_CHANNELS]; /**< stores the current pwm output values as sent to the setPin() */
bool _mode_on_initialized; /** Set to true after the first call of i2cpwm in mode IOX_MODE_ON */
@@ -169,7 +167,7 @@ PCA9685::PCA9685(const I2CSPIDriverConfig &config) :
I2C(config),
I2CSPIDriver(config),
_mode(IOX_MODE_ON),
_i2cpwm_interval(float(_pwm_period_us)),
_i2cpwm_interval((float)_pwm_period_us),
_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": com_err")),
_pca_pwm_sub(-1),
_pca_pwm(),
@@ -215,15 +213,15 @@ void
PCA9685::RunImpl()
{
if (_mode == IOX_MODE_TEST_OUT) {
if (_test_pwm > _pwm_max) {
_test_pwm = _pwm_min;
if (_test_pwm > 4096) {
_test_pwm = 0;
}
for (int i = 0; i < NUMBER_PWM_CHANNELS; i++) {
setPin(i, _test_pwm);
}
_test_pwm += (_pwm_max-_pwm_min)/10;
_test_pwm += 4096/10;
} else {
if (!_mode_on_initialized) {
@@ -241,26 +239,21 @@ PCA9685::RunImpl()
_pca_pwm.pwm_period >= PWM_PERIOD_MIN_US &&
_pca_pwm.pwm_period <= PWM_PERIOD_MAX_US) {
_pwm_period_us = _pca_pwm.pwm_period;
_pwm_freq = 1000000.0f / float(_pwm_period_us);
_pwm_center; //TODO calculate.
_pwm_min; //TODO calculate.
_pwm_max; //TODO calculate.
DEVICE_DEBUG("freq: %.2f, period: %u, min: %u, center: %u, max: %u",
_pwm_freq, _pwm_period_us, _pwm_min, _pwm_center, _pwm_max);
_pwm_freq = 1000000.0f / (float)_pwm_period_us;
DEVICE_DEBUG("freq: %.2f, period: %u", (double)_pwm_freq, _pwm_period_us);
}
for (int i = 0; i < NUMBER_PWM_CHANNELS; i++) {
uint16_t new_value = // TODO: _pca_pwm.pulse_width[i] math
DEVICE_DEBUG("%d: current: %u, new: %u, pulse width: u%", i, _current_values[i], new_value, _pca_pwm.pulse_width[i]);
uint16_t new_value = (uint16_t)(((float)_pwm_period_us/(float)_pca_pwm.pulse_width[i])*4096.0f);
DEVICE_DEBUG("%d: current: %u, new: %u, pulse width: %u", i, _current_values[i], new_value, _pca_pwm.pulse_width[i]);
if (new_value != _current_values[i] &&
new_value >= _pwm_min &&
new_value <= _pwm_max) {
if (new_value != _current_values[i] && new_value < 4096) {
setPin(i, new_value);
_current_values[i] = new_value;
} else {
if (new_value >= _pwm_min && new_value <= _pwm_max) {
DEVICE_DEBUG("pwm new value: %u is out of range [%u, %u]", new_value, _pwm_min, _pwm_max);
if (new_value < 4096) {
DEVICE_DEBUG("pwm new value: %u is out of range [0, 4096]", new_value);
}
}
}
}
}
@@ -434,7 +427,7 @@ void PCA9685::custom_method(const BusCLIArguments &cli)
}
}
extern "C" int pca9685_main(int argc, char *argv[])
extern "C" int pca9685_ucan_main(int argc, char *argv[])
{
using ThisDriver = PCA9685;
BusCLIArguments cli{true, false};