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New pca9685 pwm output driver
This commit is contained in:
SalimTerryLi
committed by
Daniel Agar
Daniel Agar
parent
693d532bba
commit
3ed8e876b7
@@ -0,0 +1,279 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <px4_log.h>
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#include <cmath>
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#include "PCA9685.h"
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using namespace drv_pca9685_pwm;
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PCA9685::PCA9685(int bus, int addr):
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I2C("PCA9685", PWM_OUTPUT0_DEVICE_PATH, bus, addr, 400000)
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{
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}
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int PCA9685::Start()
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{
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int ret = init();
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return ret;
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}
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int PCA9685::Stop()
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{
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disableAllOutput();
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return PX4_OK;
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}
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int PCA9685::updatePWM(const uint16_t *outputs, unsigned num_outputs)
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{
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if (num_outputs > PCA9685_PWM_CHANNEL_COUNT) {
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num_outputs = PCA9685_PWM_CHANNEL_COUNT;
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PX4_WARN("PCA9685 can only drive up to 16 channels");
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}
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uint16_t out[PCA9685_PWM_CHANNEL_COUNT];
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memcpy(out, outputs, sizeof(uint16_t) * num_outputs);
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for (unsigned i = 0; i < num_outputs; ++i) {
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out[i] = (uint16_t)roundl((out[i] * _Freq * PCA9685_PWM_RES / (float)1e6)); // convert us to 12 bit resolution
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}
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setPWM(num_outputs, out);
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return 0;
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}
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int PCA9685::setFreq(int freq)
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{
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uint16_t realResolution = floorl((double)PCA9685_CLOCK_FREQ / freq);
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if (realResolution < PCA9685_PWM_RES) { // unable to provide enough resolution
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PX4_DEBUG("frequency too high");
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return -EINVAL;
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}
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uint16_t divider = (uint16_t)round((double)PCA9685_CLOCK_FREQ / freq / PCA9685_PWM_RES) - 1;
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if (divider > 0x00FF) { // out of divider
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PX4_DEBUG("frequency too low");
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return -EINVAL;
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}
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float freq_err = ((float)PCA9685_CLOCK_FREQ / (float)(divider + (uint16_t)1)
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- (float)(freq * PCA9685_PWM_RES))
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/ (float)(freq * PCA9685_PWM_RES); // actually asked for (freq * PCA9685_PWM_RES)
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if (fabsf(freq_err) > 0.01f) { // TODO decide threshold
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PX4_WARN("frequency error too large: %.4f", (double)freq_err);
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// should we return an error?
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}
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_Freq = (float)PCA9685_CLOCK_FREQ / (float)(divider + (uint16_t)1) / PCA9685_PWM_RES; // use actual pwm freq instead.
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setDivider(divider);
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return PX4_OK;
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}
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int PCA9685::init()
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{
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int ret = I2C::init();
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if (ret != PX4_OK) {
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PX4_DEBUG("I2C init failed.");
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return ret;
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}
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uint8_t buf[2] = {};
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buf[0] = PCA9685_REG_MODE1;
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buf[1] = DEFAULT_MODE1_CFG;
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ret = transfer(buf, 2, nullptr, 0);
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if (OK != ret) {
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PX4_DEBUG("i2c::transfer returned %d", ret);
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return ret;
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}
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buf[0] = PCA9685_REG_MODE2;
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buf[1] = DEFAULT_MODE2_CFG;
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ret = transfer(buf, 2, nullptr, 0);
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if (OK != ret) {
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PX4_DEBUG("i2c::transfer returned %d", ret);
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return ret;
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}
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disableAllOutput();
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return PX4_OK;
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}
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int PCA9685::probe()
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{
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return I2C::probe();
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}
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void PCA9685::setPWM(uint8_t channel, const uint16_t &value)
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{
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if (value >= 4096) {
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PX4_DEBUG("invalid pwm value");
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return;
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}
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uint8_t buf[5] = {};
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buf[0] = PCA9685_REG_LED0 + channel * PCA9685_REG_LED_INCREMENT;
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buf[1] = 0x00;
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buf[2] = 0x00;
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buf[3] = (uint8_t)(value & (uint8_t)0xFF);
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buf[4] = value != 0 ? ((uint8_t)(value >> (uint8_t)8)) : PCA9685_LED_ON_FULL_ON_OFF_MASK;
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int ret = transfer(buf, 5, nullptr, 0);
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if (OK != ret) {
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PX4_DEBUG("i2c::transfer returned %d", ret);
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}
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}
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void PCA9685::setPWM(uint8_t channel_count, const uint16_t *value)
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{
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uint8_t buf[PCA9685_PWM_CHANNEL_COUNT * PCA9685_REG_LED_INCREMENT + 1] = {};
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buf[0] = PCA9685_REG_LED0;
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for (int i = 0; i < channel_count; ++i) {
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if (value[i] >= 4096) {
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PX4_DEBUG("invalid pwm value");
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return;
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}
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buf[1 + i * PCA9685_REG_LED_INCREMENT] = 0x00;
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buf[2 + i * PCA9685_REG_LED_INCREMENT] = 0x00;
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buf[3 + i * PCA9685_REG_LED_INCREMENT] = (uint8_t)(value[i] & (uint8_t)0xFF);
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buf[4 + i * PCA9685_REG_LED_INCREMENT] = value[i] != 0 ? ((uint8_t)(value[i] >> (uint8_t)8)) :
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PCA9685_LED_ON_FULL_ON_OFF_MASK;
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}
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int ret = transfer(buf, channel_count * PCA9685_REG_LED_INCREMENT + 1, nullptr, 0);
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if (OK != ret) {
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PX4_DEBUG("i2c::transfer returned %d", ret);
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}
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}
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void PCA9685::disableAllOutput()
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{
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uint8_t buf[5] = {};
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buf[0] = PCA9685_REG_ALLLED_ON_L;
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buf[1] = 0x00;
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buf[2] = 0x00;
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buf[3] = (uint8_t)(0x00 & (uint8_t)0xFF);
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buf[4] = PCA9685_LED_ON_FULL_ON_OFF_MASK;
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int ret = transfer(buf, 5, nullptr, 0);
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if (OK != ret) {
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PX4_DEBUG("i2c::transfer returned %d", ret);
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}
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}
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void PCA9685::setDivider(uint8_t value)
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{
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disableAllOutput();
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stopOscillator();
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uint8_t buf[2] = {};
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buf[0] = PCA9685_REG_PRE_SCALE;
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buf[1] = value;
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int ret = transfer(buf, 2, nullptr, 0);
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if (OK != ret) {
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PX4_DEBUG("i2c::transfer returned %d", ret);
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return;
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}
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restartOscillator();
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}
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void PCA9685::stopOscillator()
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{
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uint8_t buf[2] = {PCA9685_REG_MODE1};
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int ret = transfer(buf, 1, buf, 1);
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if (OK != ret) {
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PX4_DEBUG("i2c::transfer returned %d", ret);
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return;
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}
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buf[1] = buf[0];
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buf[0] = PCA9685_REG_MODE1;
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// clear restart bit
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buf[1] |= PCA9685_MODE1_SLEEP_MASK;
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ret = transfer(buf, 2, nullptr, 0);
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if (OK != ret) {
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PX4_DEBUG("i2c::transfer returned %d", ret);
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return;
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}
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}
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void PCA9685::restartOscillator()
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{
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uint8_t buf[2] = {PCA9685_REG_MODE1};
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int ret = transfer(buf, 1, buf + 1, 1);
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if (OK != ret) {
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PX4_DEBUG("i2c::transfer returned %d", ret);
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return;
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}
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// clear restart and sleep bit
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buf[1] &= PCA9685_MODE1_EXTCLK_MASK | PCA9685_MODE1_AI_MASK
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| PCA9685_MODE1_SUB1_MASK | PCA9685_MODE1_SUB2_MASK
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| PCA9685_MODE1_SUB3_MASK | PCA9685_MODE1_ALLCALL_MASK;
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buf[0] = PCA9685_REG_MODE1;
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ret = transfer(buf, 2, nullptr, 0);
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if (OK != ret) {
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PX4_DEBUG("i2c::transfer returned %d", ret);
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return;
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}
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usleep(5000);
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buf[1] |= PCA9685_MODE1_RESTART_MASK;
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ret = transfer(buf, 2, nullptr, 0);
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if (OK != ret) {
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PX4_DEBUG("i2c::transfer returned %d", ret);
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return;
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}
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}
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