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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-28 04:43:33 +08:00
SalimTerryLi
2d0eb4a41a
* reduce I2C transfers and enable EXTCLK support * schedule rate limit arg * apply state machine and do actual init in Run()
175 lines
5.8 KiB
C++
175 lines
5.8 KiB
C++
/****************************************************************************
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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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#pragma once
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#include <cstdint>
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#include <drivers/device/i2c.h>
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#include <drivers/drv_pwm_output.h>
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namespace drv_pca9685_pwm
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{
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#define PCA9685_REG_MODE1 0x00 // Mode register 1
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#define PCA9685_REG_MODE2 0x01 // Mode register 2
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#define PCA9685_REG_SUBADR1 0x02 // I2C-bus subaddress 1
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#define PCA9685_REG_SUBADR2 0x03 // I2C-bus subaddress 2
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#define PCA9685_REG_SUBADR3 0x04 // I2C-bus subaddress 3
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#define PCA9685_REG_ALLCALLADR 0x05 // LED All Call I2C-bus address
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#define PCA9685_REG_LED0 0x06 // LED0 start register
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#define PCA9685_REG_LED0_ON_L 0x06 // LED0 output and brightness control byte 0
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#define PCA9685_REG_LED0_ON_H 0x07 // LED0 output and brightness control byte 1
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#define PCA9685_REG_LED0_OFF_L 0x08 // LED0 output and brightness control byte 2
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#define PCA9685_REG_LED0_OFF_H 0x09 // LED0 output and brightness control byte 3
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#define PCA9685_REG_LED_INCREMENT 4 // compute the other 15 channels
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#define PCA9685_REG_ALLLED_ON_L 0xFA // load all the LEDn_ON registers, byte 0 (turn 0-7 channels on)
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#define PCA9685_REG_ALLLED_ON_H 0xFB // load all the LEDn_ON registers, byte 1 (turn 8-15 channels on)
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#define PCA9685_REG_ALLLED_OFF_L 0xFC // load all the LEDn_OFF registers, byte 0 (turn 0-7 channels off)
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#define PCA9685_REG_ALLLED_OFF_H 0xFD // load all the LEDn_OFF registers, byte 1 (turn 8-15 channels off)
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#define PCA9685_REG_PRE_SCALE 0xFE // prescaler for output frequency
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#define PCA9685_REG_TESTMODE 0xFF // test mode register
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// Mode register 1
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#define PCA9685_MODE1_RESTART_MASK 0x80
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#define PCA9685_MODE1_EXTCLK_MASK 0x40
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#define PCA9685_MODE1_AI_MASK 0x20
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#define PCA9685_MODE1_SLEEP_MASK 0x10
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#define PCA9685_MODE1_SUB1_MASK 0x08
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#define PCA9685_MODE1_SUB2_MASK 0x04
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#define PCA9685_MODE1_SUB3_MASK 0x02
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#define PCA9685_MODE1_ALLCALL_MASK 0x01
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// Mode register 2
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#define PCA9685_MODE2_INVRT_MASK 0x10
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#define PCA9685_MODE2_OCH_MASK 0x08
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#define PCA9685_MODE2_OUTDRV_MASK 0x04
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#define PCA9685_MODE2_OUTNE_MASK 0x03
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// LED_ON, LED_OFF control registers
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#define PCA9685_LED0_ON_L_MASK 0xFF
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#define PCA9685_LED_ON_FULL_ON_OFF_MASK 0x10
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#define PCA9685_LED0_ON_H_MASK 0x0F
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// PRE_SCALE register
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#define PCA9685_PRE_SCALE_MASK 0xFF
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#define PCA9685_PWM_CHANNEL_COUNT 16
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#define PCA9685_PWM_RES 4096 //Resolution 4096=12bit
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/* This should be 25000000 ideally,
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* but it seems most chips have its oscillator working at a higher frequency
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* Reference: https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library/blob/6664ce936210eea53259b814062009d9569a4213/Adafruit_PWMServoDriver.h#L66 */
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#define PCA9685_CLOCK_INT 26075000.0 //25MHz internal clock
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#ifndef PCA9685_CLOCK_EXT
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#define PCA9685_CLOCK_FREQ PCA9685_CLOCK_INT // use int clk
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#else
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#define PCA9685_CLOCK_FREQ PCA9685_CLOCK_EXT // use ext clk
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#endif
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#define PCA9685_DEVICE_BASE_PATH "/dev/pca9685"
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#define PWM_DEFAULT_FREQUENCY 50 // default pwm frequency
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//! Main class that exports features for PCA9685 chip
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class PCA9685 : public device::I2C
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{
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public:
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PCA9685(int bus, int addr);
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int Stop();
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/*
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* outputs formatted to us.
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*/
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int updatePWM(const uint16_t *outputs, unsigned num_outputs);
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int setFreq(float freq);
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~PCA9685() override = default;
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int initReg();
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inline float getFrequency() {return _Freq;}
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/*
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* disable all of the output
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*/
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void disableAllOutput();
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/*
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* turn off oscillator
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*/
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void stopOscillator();
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/*
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* turn on oscillator
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*/
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void startOscillator();
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/*
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* turn on output
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*/
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void triggerRestart();
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protected:
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int probe() override;
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#ifdef PCA9685_CLOCL_EXT
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static const uint8_t DEFAULT_MODE1_CFG = 0x70; // Auto-Increment, Sleep, EXTCLK
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#else
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static const uint8_t DEFAULT_MODE1_CFG = 0x30; // Auto-Increment, Sleep
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#endif
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static const uint8_t DEFAULT_MODE2_CFG = 0x04; // totem pole
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float _Freq = PWM_DEFAULT_FREQUENCY;
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/**
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* set PWM value for a channel[0,15].
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* value should be range of 0-4095
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*/
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void setPWM(uint8_t channel, const uint16_t &value);
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/**
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* set all PWMs in a single I2C transmission.
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* value should be range of 0-4095
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*/
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void setPWM(uint8_t channel_count, const uint16_t *value);
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/*
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* set clock divider
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*/
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void setDivider(uint8_t value);
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private:
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};
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}
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