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1. Add comment written in English
2. Rewrite and rebase pca9685 driver 3. Try to fix issue when push the stick of channel 3 to the maxmum position, 0uswill be output to channel 1, should be maxmum pwm signal 4. Fix the code style
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Beat Küng
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ed319ce5d5
@ -1,26 +1,41 @@
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/*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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/****************************************************************************
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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* Copyright (c) 2015-2017 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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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* Name : PCA9685.cpp
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* Original Author : Georgi Todorov
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* Edited by : Tord Wessman
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* Version :
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* Created on : Dec 9, 2012
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*
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* Copyright © 2012 Georgi Todorov <terahz@geodar.com>
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*/
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* Created on : Nov 22, 2013
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* Rewrite : Fan.zhang 421395590@qq.com
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* Updated on : Mar 2, 2017
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****************************************************************************/
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#include <sys/stat.h>
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#include <sys/ioctl.h>
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@ -53,15 +68,25 @@ void PCA9685::init(int bus, int address)
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//usleep(10*1000);
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}
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PCA9685::PCA9685() :
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_i2caddr(0x40),
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_i2cbus(1),
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busfile {},
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_i2caddr(PCA9685_DEFAULT_I2C_ADDR),
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_i2cbus(PCA9685_DEFAULT_I2C_BUS),
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dataBuffer {}
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{
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}
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PCA9685::PCA9685(int bus, int address) :
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busfile {},
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dataBuffer {}
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{
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_i2cbus = bus;
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_i2caddr = address;
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snprintf(busfile, sizeof(busfile), "/dev/i2c-%d", bus);
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reset();
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}
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PCA9685::~PCA9685()
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{
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reset();
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@ -1,33 +1,48 @@
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/*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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/****************************************************************************
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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* Copyright (c) 2015-2017 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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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* Name : PCA9685.h
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* Original Author : Georgi Todorov
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* Edited by : Tord Wessman
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* Version :
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* Created on : Nov 22, 2013
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*
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* Copyright © 2012 Georgi Todorov <terahz@geodar.com>
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*/
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* Rewrite : Fan.zhang 421395590@qq.com
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* Updated on : Mar 2, 2017
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****************************************************************************/
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#ifndef _PCA9685_H
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#define _PCA9685_H
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#include <inttypes.h>
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// Register Definitions
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// 寄存器定义
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#define MODE1 0x00 //Mode register 1
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#define MODE2 0x01 //Mode register 2
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#define SUBADR1 0x02 //I2C-bus subaddress 1
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@ -45,15 +60,18 @@
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#define ALLLED_OFF_L 0xFC //load all the LEDn_OFF registers, byte 0 (turn 0-7 channels off)
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#define ALLLED_OFF_H 0xFD //load all the LEDn_OFF registers, byte 1 (turn 8-15 channels off)
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#define PRE_SCALE 0xFE //prescaler for output frequency
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#define MAX_PWM_RES 4096 //10bit精度
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#define MAX_PWM_RES 4096 //Resolution 4096=12bit 分辨率，按2的阶乘计算，12bit为4096
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#define CLOCK_FREQ 25000000.0 //25MHz default osc clock
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#define BUFFER_SIZE 0x08 //1 byte buffer
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#define PCA9685_DEFAULT_I2C_ADDR 0x40 // default i2c address for pca9685 默认i2c地址为0x40
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#define PCA9685_DEFAULT_I2C_BUS 1 // default i2c bus for pca9685 默认为1
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//! Main class that exports features for PCA9685 chip
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class PCA9685
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{
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public:
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PCA9685();
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PCA9685(int, int);
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void init(int, int);
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virtual ~PCA9685();
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void reset(void);
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@ -68,7 +86,5 @@ private:
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uint8_t read_byte(int, uint8_t);
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void write_byte(int, uint8_t, uint8_t);
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int openfd();
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};
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#endif
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@ -80,11 +80,15 @@ int rpi_pca9685_pwm_out::initialize_mixer(const char *mixer_filename)
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int rpi_pca9685_pwm_out::pwm_initialize()
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{
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/**************初始化PCA9685开始*************/
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/**************PCA965 initializing********/
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pwm.init(1, 0x40);
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usleep(1000 * 100);
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pwm.setPWMFreq(200); //12BIT 精度输出下，好赢电调可以到200HZ刷新
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/****12BIT 精度输出下，好赢电调可以到200HZ刷新***/
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/****200HZ for 12bit Resolution, support most of the esc***/
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pwm.setPWMFreq(200);
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usleep(1000 * 1000);
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/**************初始化PCA9685结束************/
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/**************PCA965 initialized********/
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return 0;
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}
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//----------------------------------------------------------------------------//
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@ -95,7 +99,8 @@ void rpi_pca9685_pwm_out::pwm_deinitialize()
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//----------------------------------------------------------------------------//
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void rpi_pca9685_pwm_out::send_outputs_pwm(const uint16_t *pwm)
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{
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//向PCA9685发送数据
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/*************向PCA9685发送数据*************/
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/*************send pwm signal to pca9685 initializing*************/
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int i;
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for (i = 0; i < NUM_PWM; ++i) {
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@ -141,11 +146,12 @@ void rpi_pca9685_pwm_out::task_main(int argc, char *argv[])
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_is_running = true;
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/***************初始化PCA9685************/
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/***************rpc_pca9685_pwm_out*************/
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rpi_pca9685_pwm_out::pwm_initialize();
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// Set up mixer
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if (initialize_mixer(_mixer_filename) < 0) {
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PX4_ERR("无法初始化通道混合配置文件");
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PX4_ERR("无法初始化通道混合配置文件 Can't loading mixer file");
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return;
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}
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@ -43,12 +43,12 @@ int RcInput::rpi_rc_init()
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//--------------初始化共享内存映射----------------------------//
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if ((this->shmid = shmget(this->key, sizeof(int) * this->_channels, 0666))
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< 0) {
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PX4_WARN("无法访问共享内存");
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PX4_WARN("无法访问共享内存。Faild to access shared memory");
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return -1;
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}
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if ((this->mem = (int *) shmat(this->shmid, NULL, 0)) == (void *) - 1) {
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PX4_WARN("无法映射共享内存");
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PX4_WARN("无法映射共享内存。Faild to mapping shared memory");
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return -1;
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}
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@ -113,11 +113,12 @@ void RcInput::_cycle()
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void RcInput::_measure(void)
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{
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uint64_t ts;
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// PWM 数据发布
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// PWM数据发布
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// read pwm value from shared memory
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int i = 0;
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for (i = 0; i < _channels; ++i) {
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_data.values[i] = *(this->mem + i);
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_data.values[i] = (*(this->mem + i) <= 0) ? UINT16_MAX : *(this->mem + i);
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}
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ts = hrt_absolute_time();
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@ -158,7 +159,7 @@ int rpi_rc_in_main(int argc, char **argv)
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if (!strcmp(argv[1], "start")) {
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if (rc_input != nullptr && rc_input->isRunning()) {
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PX4_WARN("运行中。");
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PX4_WARN("运行中。running");
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/* this is not an error */
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return 0;
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}
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@ -167,14 +168,14 @@ int rpi_rc_in_main(int argc, char **argv)
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// Check if alloc worked.
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if (nullptr == rc_input) {
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PX4_ERR("遥控输入模块初始化错误。");
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PX4_ERR("遥控输入模块初始化错误。Rc input moduel initialization faild");
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return -1;
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}
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int ret = rc_input->start();
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if (ret != 0) {
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PX4_ERR("遥控输入模块未能启动");
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PX4_ERR("遥控输入模块未能启动。 Rc input module failure");
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}
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return 0;
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@ -183,7 +184,7 @@ int rpi_rc_in_main(int argc, char **argv)
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if (!strcmp(argv[1], "stop")) {
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if (rc_input == nullptr || !rc_input->isRunning()) {
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PX4_WARN("模块未运行");
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PX4_WARN("模块未运行。 Not runing");
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/* this is not an error */
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return 0;
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}
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@ -207,16 +208,16 @@ int rpi_rc_in_main(int argc, char **argv)
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if (!strcmp(argv[1], "status")) {
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if (rc_input != nullptr && rc_input->isRunning()) {
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PX4_INFO("运行中");
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PX4_INFO("运行中。 running");
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} else {
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PX4_INFO("未运行\n");
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PX4_INFO("未运行。 Not runing\n");
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}
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return 0;
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}
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usage("不知道你要做什么");
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usage("不知道你要做什么。 rpi_rc_in start|stop|status");
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return 1;
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}
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