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Add pca9685_ucan driver.
This commit is contained in:
Benjamin Perseghetti
@@ -0,0 +1,39 @@
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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
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# 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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px4_add_module(
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MODULE drivers__pca9685_ucan
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MAIN pca9685_ucan
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SRCS
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pca9685_ucan.cpp
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DEPENDS
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)
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@@ -0,0 +1,5 @@
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menuconfig DRIVERS_PCA9685_UCAN
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bool "pca9685_ucan"
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default n
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---help---
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Enable support for pca9685_ucan
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@@ -0,0 +1,477 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2022 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
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* 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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/**
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* @file pca9685_ucan.cpp
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*
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* Driver for the PCA9685 I2C PWM module
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* The chip is used on the Adafruit I2C/PWM converter https://www.adafruit.com/product/815
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*
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* Parts of the code are adapted from the arduino library for the board
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* https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library
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* for the license of these parts see the
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* arduino_Adafruit_PWM_Servo_Driver_Library_license.txt file
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* see https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library for contributors
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*
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* @author Benjamin Perseghetti <bperseghetti@rudislabs.com>
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* @author Landon Haugh <landon.haugh@nxp.com>
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*/
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/module.h>
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#include <drivers/device/i2c.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <string.h>
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#include <stdlib.h>
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#include <stdbool.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <stdio.h>
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#include <ctype.h>
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#include <math.h>
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#include <px4_platform_common/getopt.h>
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#include <px4_platform_common/i2c_spi_buses.h>
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#include <nuttx/clock.h>
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#include <perf/perf_counter.h>
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#include <systemlib/err.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/pca_pwm.h>
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#include <board_config.h>
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#define PCA9685_MODE1 0x0
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#define PCA9685_PRESCALE 0xFE
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#define LED0_ON_L 0x6
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#define ADDR 0x40 // I2C adress
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#define ORB_SUB_UPDATE_PERIOD 10 // uORB subscription update period in milliseconds
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#define NUMBER_PWM_CHANNELS 16 // Number of PWM channels.
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#define PWM_PERIOD_MIN_US 656
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#define PWM_PERIOD_MAX_US 41666
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enum IOX_MODE {
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IOX_MODE_ON,
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IOX_MODE_TEST_OUT
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};
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using namespace time_literals;
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class PCA9685 : public device::I2C, public I2CSPIDriver<PCA9685>
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{
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public:
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PCA9685(const I2CSPIDriverConfig &config);
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~PCA9685() override = default;
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static void print_usage();
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void print_status();
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int init() override;
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int reset();
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void RunImpl();
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protected:
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void custom_method(const BusCLIArguments &cli) override;
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private:
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enum IOX_MODE _mode;
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uint64_t _i2cpwm_interval;
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perf_counter_t _comms_errors;
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uint8_t _msg[6];
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int _pca_pwm_sub;
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struct pca_pwm_s _pca_pwm;
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uint16_t _pwm_period_us = 20000;
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float _pwm_freq = 50;
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uint16_t _pwm_center = 1500;
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uint16_t _pwm_min = 900;
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uint16_t _test_pwm = _pwm_min;
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uint16_t _pwm_max = 2200;
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uint16_t _current_values[NUMBER_PWM_CHANNELS]; /**< stores the current pwm output values as sent to the setPin() */
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bool _mode_on_initialized; /** Set to true after the first call of i2cpwm in mode IOX_MODE_ON */
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bool _updated = false;
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/**
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* Helper function to set the pwm frequency
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*/
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int setPWMFreq(float freq);
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/**
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* Helper function to set the demanded pwm value
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* @param num pwm output number
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*/
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int setPWM(uint8_t num, uint16_t on, uint16_t off);
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/**
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* Sets pin without having to deal with on/off tick placement and properly handles
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* a zero value as completely off.
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* @param num pwm output number
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* @param val should be a value from 0 to 4095 inclusive.
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*/
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int setPin(uint8_t num, uint16_t val);
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/* Wrapper to read a byte from addr */
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int read8(uint8_t addr, uint8_t &value);
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/* Wrapper to wite a byte to addr */
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int write8(uint8_t addr, uint8_t value);
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};
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PCA9685::PCA9685(const I2CSPIDriverConfig &config) :
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I2C(config),
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I2CSPIDriver(config),
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_mode(IOX_MODE_ON),
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_i2cpwm_interval(float(_pwm_period_us)),
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_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": com_err")),
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_pca_pwm_sub(-1),
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_pca_pwm(),
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_mode_on_initialized(false)
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{
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memset(_msg, 0, sizeof(_msg));
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memset(_current_values, 0, sizeof(_current_values));
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}
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int
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PCA9685::init()
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{
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int ret;
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ret = I2C::init();
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if (ret != OK) {
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return ret;
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}
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ret = reset();
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if (ret != OK) {
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return ret;
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}
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ret = setPWMFreq(_pwm_freq);
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if (ret == 0) {
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ScheduleNow();
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}
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return ret;
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}
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void
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PCA9685::print_status()
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{
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I2CSPIDriverBase::print_status();
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PX4_INFO("Mode: %u", _mode);
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}
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void
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PCA9685::RunImpl()
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{
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if (_mode == IOX_MODE_TEST_OUT) {
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if (_test_pwm > _pwm_max) {
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_test_pwm = _pwm_min;
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}
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for (int i = 0; i < NUMBER_PWM_CHANNELS; i++) {
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setPin(i, _test_pwm);
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}
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_test_pwm += (_pwm_max-_pwm_min)/10;
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} else {
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if (!_mode_on_initialized) {
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_pca_pwm_sub = orb_subscribe(ORB_ID(pca_pwm));
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orb_set_interval(_pca_pwm_sub, ORB_SUB_UPDATE_PERIOD);
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_mode_on_initialized = true;
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}
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orb_check(_pca_pwm_sub, &_updated);
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if (_updated) {
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orb_copy(ORB_ID(pca_pwm), _pca_pwm_sub, &_pca_pwm);
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if (_pwm_period_us != _pca_pwm.pwm_period &&
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_pca_pwm.pwm_period >= PWM_PERIOD_MIN_US &&
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_pca_pwm.pwm_period <= PWM_PERIOD_MAX_US) {
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_pwm_period_us = _pca_pwm.pwm_period;
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_pwm_freq = 1000000.0f / float(_pwm_period_us);
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_pwm_center; //TODO calculate.
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_pwm_min; //TODO calculate.
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_pwm_max; //TODO calculate.
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DEVICE_DEBUG("freq: %.2f, period: %u, min: %u, center: %u, max: %u",
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_pwm_freq, _pwm_period_us, _pwm_min, _pwm_center, _pwm_max);
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}
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for (int i = 0; i < NUMBER_PWM_CHANNELS; i++) {
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uint16_t new_value = // TODO: _pca_pwm.pulse_width[i] math
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DEVICE_DEBUG("%d: current: %u, new: %u, pulse width: u%", i, _current_values[i], new_value, _pca_pwm.pulse_width[i]);
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if (new_value != _current_values[i] &&
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new_value >= _pwm_min &&
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new_value <= _pwm_max) {
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setPin(i, new_value);
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_current_values[i] = new_value;
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} else {
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if (new_value >= _pwm_min && new_value <= _pwm_max) {
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DEVICE_DEBUG("pwm new value: %u is out of range [%u, %u]", new_value, _pwm_min, _pwm_max);
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}
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}
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}
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}
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ScheduleDelayed(_i2cpwm_interval);
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}
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int
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PCA9685::setPWM(uint8_t num, uint16_t on, uint16_t off)
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{
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int ret;
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/* convert to correct message */
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_msg[0] = LED0_ON_L + 4 * num;
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_msg[1] = on;
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_msg[2] = on >> 8;
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_msg[3] = off;
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_msg[4] = off >> 8;
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/* try i2c transfer */
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ret = transfer(_msg, 5, nullptr, 0);
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if (OK != ret) {
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perf_count(_comms_errors);
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DEVICE_LOG("i2c::transfer returned %d", ret);
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}
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return ret;
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}
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int
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PCA9685::setPin(uint8_t num, uint16_t val)
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{
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// Clamp value between 0 and 4095 inclusive.
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if (val > 4095) {
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val = 4095;
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}
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if (val == 4095) {
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// Special value for signal fully on.
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return setPWM(num, 4096, 0);
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} else if (val == 0) {
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// Special value for signal fully off.
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return setPWM(num, 0, 4096);
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|
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} else {
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return setPWM(num, 0, val);
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}
|
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|
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return PX4_ERROR;
|
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}
|
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|
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int
|
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PCA9685::setPWMFreq(float freq)
|
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{
|
||||
int ret = OK;
|
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float prescaleval = 25000000;
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prescaleval /= 4096;
|
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prescaleval /= freq;
|
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prescaleval -= 1;
|
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uint8_t prescale = uint8_t(prescaleval + 0.5f); //implicit floor()
|
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uint8_t oldmode;
|
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ret = read8(PCA9685_MODE1, oldmode);
|
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|
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if (ret != OK) {
|
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return ret;
|
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}
|
||||
|
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uint8_t newmode = (oldmode & 0x7F) | 0x10; // sleep
|
||||
|
||||
ret = write8(PCA9685_MODE1, newmode); // go to sleep
|
||||
|
||||
if (ret != OK) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
ret = write8(PCA9685_PRESCALE, prescale); // set the prescaler
|
||||
|
||||
if (ret != OK) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
ret = write8(PCA9685_MODE1, oldmode);
|
||||
|
||||
if (ret != OK) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
usleep(5000); //5ms delay (from arduino driver)
|
||||
|
||||
ret = write8(PCA9685_MODE1, oldmode | 0xa1); // This sets the MODE1 register to turn on auto increment.
|
||||
|
||||
if (ret != OK) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* Wrapper to read a byte from addr */
|
||||
int
|
||||
PCA9685::read8(uint8_t addr, uint8_t &value)
|
||||
{
|
||||
int ret = OK;
|
||||
|
||||
/* send addr */
|
||||
ret = transfer(&addr, sizeof(addr), nullptr, 0);
|
||||
|
||||
if (ret != OK) {
|
||||
goto fail_read;
|
||||
}
|
||||
|
||||
/* get value */
|
||||
ret = transfer(nullptr, 0, &value, 1);
|
||||
|
||||
if (ret != OK) {
|
||||
goto fail_read;
|
||||
}
|
||||
|
||||
return ret;
|
||||
|
||||
fail_read:
|
||||
perf_count(_comms_errors);
|
||||
DEVICE_LOG("i2c::transfer returned %d", ret);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int PCA9685::reset(void)
|
||||
{
|
||||
warnx("resetting");
|
||||
return write8(PCA9685_MODE1, 0x0);
|
||||
}
|
||||
|
||||
/* Wrapper to wite a byte to addr */
|
||||
int
|
||||
PCA9685::write8(uint8_t addr, uint8_t value)
|
||||
{
|
||||
int ret = OK;
|
||||
_msg[0] = addr;
|
||||
_msg[1] = value;
|
||||
/* send addr and value */
|
||||
ret = transfer(_msg, 2, nullptr, 0);
|
||||
|
||||
if (ret != OK) {
|
||||
perf_count(_comms_errors);
|
||||
DEVICE_LOG("i2c::transfer returned %d", ret);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
void
|
||||
PCA9685::print_usage()
|
||||
{
|
||||
PRINT_MODULE_USAGE_NAME("pca9685_ucan", "driver");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
|
||||
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x40);
|
||||
PRINT_MODULE_USAGE_COMMAND("reset");
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("test", "enter test mode");
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
}
|
||||
|
||||
void PCA9685::custom_method(const BusCLIArguments &cli)
|
||||
{
|
||||
switch (cli.custom1) {
|
||||
case 0: reset(); break;
|
||||
|
||||
case 1: _mode = IOX_MODE_TEST_OUT; break;
|
||||
}
|
||||
}
|
||||
|
||||
extern "C" int pca9685_main(int argc, char *argv[])
|
||||
{
|
||||
using ThisDriver = PCA9685;
|
||||
BusCLIArguments cli{true, false};
|
||||
cli.default_i2c_frequency = 100000;
|
||||
cli.i2c_address = ADDR;
|
||||
|
||||
const char *verb = cli.parseDefaultArguments(argc, argv);
|
||||
|
||||
if (!verb) {
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
|
||||
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_PWM_DEVTYPE_PCA9685);
|
||||
|
||||
if (!strcmp(verb, "start")) {
|
||||
return ThisDriver::module_start(cli, iterator);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "stop")) {
|
||||
return ThisDriver::module_stop(iterator);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "status")) {
|
||||
return ThisDriver::module_status(iterator);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "reset")) {
|
||||
cli.custom1 = 0;
|
||||
return ThisDriver::module_custom_method(cli, iterator);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "test")) {
|
||||
cli.custom1 = 1;
|
||||
return ThisDriver::module_custom_method(cli, iterator);
|
||||
}
|
||||
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
Reference in New Issue
Block a user