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144 lines
5.0 KiB
C++
144 lines
5.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 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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*
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* Original Author : Georgi Todorov
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* Edited by : Tord Wessman
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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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#pragma once
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#include <inttypes.h>
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#include "common.h"
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namespace linux_pwm_out
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{
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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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#define SUBADR2 0x03 //I2C-bus subaddress 2
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#define SUBADR3 0x04 //I2C-bus subaddress 3
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#define ALLCALLADR 0x05 //LED All Call I2C-bus address
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#define LED0 0x6 //LED0 start register
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#define LED0_ON_L 0x6 //LED0 output and brightness control byte 0
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#define LED0_ON_H 0x7 //LED0 output and brightness control byte 1
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#define LED0_OFF_L 0x8 //LED0 output and brightness control byte 2
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#define LED0_OFF_H 0x9 //LED0 output and brightness control byte 3
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#define LED_MULTIPLYER 4 // For the other 15 channels
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#define ALLLED_ON_L 0xFA //load all the LEDn_ON registers, byte 0 (turn 0-7 channels on)
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#define ALLLED_ON_H 0xFB //load all the LEDn_ON registers, byte 1 (turn 8-15 channels on)
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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 //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 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 : public PWMOutBase
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{
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public:
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PCA9685();
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/**
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* Constructor takes bus and address arguments
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* @param bus the bus to use in /dev/i2c-%d.
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* @param address the device address on bus
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*/
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PCA9685(int bus, int address);
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int init() override { return _fd >= 0 ? 0 : -1; }
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int send_output_pwm(const uint16_t *pwm, int num_outputs) override;
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int init(int bus, int address);
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virtual ~PCA9685();
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/** Sets PCA9685 mode to 00 */
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void reset();
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/**
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* Set the frequency of PWM
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* @param freq desired frequency. 40Hz to 1000Hz using internal 25MHz oscillator.
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*/
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void setPWMFreq(int freq);
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/**
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* PWM a single channel with custom on time.
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* send pwm vale to led(channel)
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* @param channel
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* @param on_value 0-4095 value to turn on the pulse
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* @param off_value 0-4095 value to turn off the pulse
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*/
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void setPWM(uint8_t channel, int on_value, int off_value);
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/**
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* send pwm value to led(channel),
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* value should be range of 0-4095
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*/
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void setPWM(uint8_t channel, int value);
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private:
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int _fd = -1; ///< I2C device file descriptor
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/**
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* Read a single byte from PCA9685
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* @param fd file descriptor for I/O
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* @param address register address to read from
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* @return read byte
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*/
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uint8_t read_byte(int fd, uint8_t address);
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/**
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* Write a single byte to PCA9685
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* @param fd file descriptor for I/O
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* @param address register address to write to
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* @param data 8 bit data to write
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*/
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void write_byte(int fd, uint8_t address, uint8_t data);
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/**
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* Open device file for PCA9685 I2C bus
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* @return fd returns the file descriptor number or -1 on error
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*/
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int open_fd(int bus, int address);
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};
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}
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