Lorenz Meier
11 years ago
3 changed files with 718 additions and 0 deletions
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The following license agreement covers re-used code from the arduino driver |
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for the Adafruit I2C to PWM converter. |
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Software License Agreement (BSD License) |
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Copyright (c) 2012, Adafruit Industries |
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All rights reserved. |
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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 are met: |
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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 the |
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documentation and/or other materials provided with the distribution. |
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3. Neither the name of the copyright holders nor the |
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names of its contributors may be used to endorse or promote products |
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derived from this software without specific prior written permission. |
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY |
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EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED |
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY |
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES |
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND |
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS |
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
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############################################################################
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#
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# Copyright (c) 2012-2014 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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#
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# Driver for the PCA9685 I2C PWM controller
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# The chip is used on the adafruit I2C PWM converter,
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# which allows to control servos via I2C.
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# https://www.adafruit.com/product/815
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MODULE_COMMAND = pca9685
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SRCS = pca9685.cpp
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/****************************************************************************
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* |
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* Copyright (c) 2012-2014 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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/**
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* @file pca9685.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 Thomas Gubler <thomasgubler@gmail.com> |
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*/ |
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#include <nuttx/config.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 <nuttx/wqueue.h> |
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#include <nuttx/clock.h> |
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#include <systemlib/perf_counter.h> |
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#include <systemlib/err.h> |
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#include <systemlib/systemlib.h> |
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#include <uORB/uORB.h> |
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#include <uORB/topics/actuator_controls.h> |
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#include <board_config.h> |
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#include <drivers/drv_io_expander.h> |
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#define PCA9685_SUBADR1 0x2 |
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#define PCA9685_SUBADR2 0x3 |
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#define PCA9685_SUBADR3 0x4 |
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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 LED0_ON_H 0x7 |
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#define LED0_OFF_L 0x8 |
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#define LED0_OFF_H 0x9 |
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#define ALLLED_ON_L 0xFA |
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#define ALLLED_ON_H 0xFB |
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#define ALLLED_OFF_L 0xFC |
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#define ALLLED_OF |
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#define ADDR 0x40 // I2C adress
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#define PCA9685_DEVICE_PATH "/dev/pca9685" |
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#define PCA9685_BUS PX4_I2C_BUS_EXPANSION |
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#define PCA9685_PWMFREQ 60.0f |
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#define PCA9685_NCHANS 16 // total amount of pwm outputs
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#define PCA9685_SERVOMIN 150 // this is the 'minimum' pulse length count (out of 4096)
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#define PCA9685_SERVOMAX 600 // this is the 'maximum' pulse length count (out of 4096)_PWMFREQ 60.0f
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#define PCA9685_HALFRANGE ((PCA9685_SERVOMAX - PCA9685_SERVOMIN)/2) |
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#define PCA9685_CENTER (PCA9685_SERVOMIN + PCA9685_HALFRANGE) |
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#define PCA9685_MAXSERVODEG 45 //maximal defelction in degrees
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#define PCA9685_SCALE (PCA9685_HALFRANGE / (M_DEG_TO_RAD_F * PCA9685_MAXSERVODEG)) |
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/* oddly, ERROR is not defined for c++ */ |
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#ifdef ERROR |
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# undef ERROR |
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#endif |
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static const int ERROR = -1; |
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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=PCA9685_BUS, uint8_t address=ADDR); |
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virtual ~PCA9685(); |
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virtual int init(); |
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg); |
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virtual int info(); |
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virtual int reset(); |
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bool is_running() { return _running; } |
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private: |
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work_s _work; |
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enum IOX_MODE _mode; |
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bool _running; |
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int _i2cpwm_interval; |
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bool _should_run; |
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perf_counter_t _comms_errors; |
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uint8_t _msg[6]; |
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int _actuator_controls_sub; |
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struct actuator_controls_s _actuator_controls; |
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uint16_t _current_values[NUM_ACTUATOR_CONTROLS]; /**< stores the current pwm output
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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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static void i2cpwm_trampoline(void *arg); |
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void i2cpwm(); |
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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. Optional invert parameter supports inverting |
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* the pulse for sinking to ground. |
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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, bool invert = false); |
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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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/* for now, we only support one board */ |
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namespace |
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{ |
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PCA9685 *g_pca9685; |
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} |
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void pca9685_usage(); |
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extern "C" __EXPORT int pca9685_main(int argc, char *argv[]); |
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PCA9685::PCA9685(int bus, uint8_t address) : |
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I2C("pca9685", PCA9685_DEVICE_PATH, bus, address, 100000), |
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_mode(IOX_MODE_OFF), |
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_running(false), |
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_i2cpwm_interval(SEC2TICK(1.0f/60.0f)), |
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_should_run(false), |
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_comms_errors(perf_alloc(PC_COUNT, "actuator_controls_2_comms_errors")), |
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_actuator_controls_sub(-1), |
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_actuator_controls(), |
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_mode_on_initialized(false) |
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{ |
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memset(&_work, 0, sizeof(_work)); |
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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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PCA9685::~PCA9685() |
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{ |
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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(PCA9685_PWMFREQ); |
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return ret; |
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} |
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int |
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PCA9685::ioctl(struct file *filp, int cmd, unsigned long arg) |
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{ |
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int ret = -EINVAL; |
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switch (cmd) { |
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case IOX_SET_MODE: |
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if (_mode != (IOX_MODE)arg) { |
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switch ((IOX_MODE)arg) { |
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case IOX_MODE_OFF: |
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warnx("shutting down"); |
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break; |
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case IOX_MODE_ON: |
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warnx("starting"); |
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break; |
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case IOX_MODE_TEST_OUT: |
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warnx("test starting"); |
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break; |
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default: |
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return -1; |
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} |
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_mode = (IOX_MODE)arg; |
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} |
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// if not active, kick it
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if (!_running) { |
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_running = true; |
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work_queue(LPWORK, &_work, (worker_t)&PCA9685::i2cpwm_trampoline, this, 1); |
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} |
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return OK; |
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default: |
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// see if the parent class can make any use of it
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ret = CDev::ioctl(filp, cmd, arg); |
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break; |
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} |
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return ret; |
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} |
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int |
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PCA9685::info() |
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{ |
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int ret = OK; |
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if (is_running()) { |
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warnx("Driver is running, mode: %u", _mode); |
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} else { |
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warnx("Driver started but not running"); |
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} |
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return ret; |
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} |
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void |
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PCA9685::i2cpwm_trampoline(void *arg) |
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{ |
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PCA9685 *i2cpwm = reinterpret_cast<PCA9685 *>(arg); |
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i2cpwm->i2cpwm(); |
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} |
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/**
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* Main loop function |
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*/ |
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void |
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PCA9685::i2cpwm() |
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{ |
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if (_mode == IOX_MODE_TEST_OUT) { |
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setPin(0, PCA9685_CENTER); |
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_should_run = true; |
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} else if (_mode == IOX_MODE_OFF) { |
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_should_run = false; |
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} else { |
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if (!_mode_on_initialized) { |
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/* Subscribe to actuator control 2 (payload group for gimbal) */ |
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_actuator_controls_sub = orb_subscribe(ORB_ID(actuator_controls_2)); |
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/* set the uorb update interval lower than the driver pwm interval */ |
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orb_set_interval(_actuator_controls_sub, 1000.0f / PCA9685_PWMFREQ - 5); |
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_mode_on_initialized = true; |
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} |
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/* Read the servo setpoints from the actuator control topics (gimbal) */ |
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bool updated; |
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orb_check(_actuator_controls_sub, &updated); |
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if (updated) { |
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orb_copy(ORB_ID(actuator_controls_2), _actuator_controls_sub, &_actuator_controls); |
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for (int i = 0; i < NUM_ACTUATOR_CONTROLS; i++) { |
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uint16_t new_value = PCA9685_CENTER + |
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(_actuator_controls.control[i] * PCA9685_SCALE); |
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debug("%d: current: %u, new %u, control %.2f", i, _current_values[i], new_value, |
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(double)_actuator_controls.control[i]); |
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if (new_value != _current_values[i] && |
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isfinite(new_value) && |
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new_value >= 0 && |
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new_value <= PCA9685_SERVOMAX) { |
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/* This value was updated, send the command to adjust the PWM value */ |
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setPin(i, new_value); |
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_current_values[i] = new_value; |
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} |
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} |
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} |
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_should_run = true; |
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} |
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// check if any activity remains, else stop
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if (!_should_run) { |
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_running = false; |
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return; |
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} |
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|
|
||||||
|
// re-queue ourselves to run again later
|
||||||
|
_running = true; |
||||||
|
work_queue(LPWORK, &_work, (worker_t)&PCA9685::i2cpwm_trampoline, this, _i2cpwm_interval); |
||||||
|
} |
||||||
|
|
||||||
|
int |
||||||
|
PCA9685::setPWM(uint8_t num, uint16_t on, uint16_t off) |
||||||
|
{ |
||||||
|
int ret; |
||||||
|
/* convert to correct message */ |
||||||
|
_msg[0] = LED0_ON_L + 4 * num; |
||||||
|
_msg[1] = on; |
||||||
|
_msg[2] = on >> 8; |
||||||
|
_msg[3] = off; |
||||||
|
_msg[4] = off >> 8; |
||||||
|
|
||||||
|
/* try i2c transfer */ |
||||||
|
ret = transfer(_msg, 5, nullptr, 0); |
||||||
|
|
||||||
|
if (OK != ret) { |
||||||
|
perf_count(_comms_errors); |
||||||
|
log("i2c::transfer returned %d", ret); |
||||||
|
} |
||||||
|
|
||||||
|
return ret; |
||||||
|
} |
||||||
|
|
||||||
|
int |
||||||
|
PCA9685::setPin(uint8_t num, uint16_t val, bool invert) |
||||||
|
{ |
||||||
|
// Clamp value between 0 and 4095 inclusive.
|
||||||
|
if (val > 4095) { |
||||||
|
val = 4095; |
||||||
|
} |
||||||
|
if (invert) { |
||||||
|
if (val == 0) { |
||||||
|
// Special value for signal fully on.
|
||||||
|
return setPWM(num, 4096, 0); |
||||||
|
} else if (val == 4095) { |
||||||
|
// Special value for signal fully off.
|
||||||
|
return setPWM(num, 0, 4096); |
||||||
|
} else { |
||||||
|
return setPWM(num, 0, 4095-val); |
||||||
|
} |
||||||
|
} else { |
||||||
|
if (val == 4095) { |
||||||
|
// Special value for signal fully on.
|
||||||
|
return setPWM(num, 4096, 0); |
||||||
|
} else if (val == 0) { |
||||||
|
// Special value for signal fully off.
|
||||||
|
return setPWM(num, 0, 4096); |
||||||
|
} else { |
||||||
|
return setPWM(num, 0, val); |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
return ERROR; |
||||||
|
} |
||||||
|
|
||||||
|
int |
||||||
|
PCA9685::setPWMFreq(float freq) |
||||||
|
{ |
||||||
|
int ret = OK; |
||||||
|
freq *= 0.9f; /* Correct for overshoot in the frequency setting (see issue
|
||||||
|
https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library/issues/11). */
|
||||||
|
float prescaleval = 25000000; |
||||||
|
prescaleval /= 4096; |
||||||
|
prescaleval /= freq; |
||||||
|
prescaleval -= 1; |
||||||
|
uint8_t prescale = uint8_t(prescaleval + 0.5f); //implicit floor()
|
||||||
|
uint8_t oldmode; |
||||||
|
ret = read8(PCA9685_MODE1, oldmode); |
||||||
|
if (ret != OK) { |
||||||
|
return ret; |
||||||
|
} |
||||||
|
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); |
||||||
|
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); |
||||||
|
log("i2c::transfer returned %d", ret); |
||||||
|
} |
||||||
|
return ret; |
||||||
|
} |
||||||
|
|
||||||
|
void |
||||||
|
pca9685_usage() |
||||||
|
{ |
||||||
|
warnx("missing command: try 'start', 'test', 'stop', 'info'"); |
||||||
|
warnx("options:"); |
||||||
|
warnx(" -b i2cbus (%d)", PX4_I2C_BUS_EXPANSION); |
||||||
|
warnx(" -a addr (0x%x)", ADDR); |
||||||
|
} |
||||||
|
|
||||||
|
int |
||||||
|
pca9685_main(int argc, char *argv[]) |
||||||
|
{ |
||||||
|
int i2cdevice = -1; |
||||||
|
int i2caddr = ADDR; // 7bit
|
||||||
|
|
||||||
|
int ch; |
||||||
|
|
||||||
|
// jump over start/off/etc and look at options first
|
||||||
|
while ((ch = getopt(argc, argv, "a:b:")) != EOF) { |
||||||
|
switch (ch) { |
||||||
|
case 'a': |
||||||
|
i2caddr = strtol(optarg, NULL, 0); |
||||||
|
break; |
||||||
|
|
||||||
|
case 'b': |
||||||
|
i2cdevice = strtol(optarg, NULL, 0); |
||||||
|
break; |
||||||
|
|
||||||
|
default: |
||||||
|
pca9685_usage(); |
||||||
|
exit(0); |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
if (optind >= argc) { |
||||||
|
pca9685_usage(); |
||||||
|
exit(1); |
||||||
|
} |
||||||
|
|
||||||
|
const char *verb = argv[optind]; |
||||||
|
|
||||||
|
int fd; |
||||||
|
int ret; |
||||||
|
|
||||||
|
if (!strcmp(verb, "start")) { |
||||||
|
if (g_pca9685 != nullptr) { |
||||||
|
errx(1, "already started"); |
||||||
|
} |
||||||
|
|
||||||
|
if (i2cdevice == -1) { |
||||||
|
// try the external bus first
|
||||||
|
i2cdevice = PX4_I2C_BUS_EXPANSION; |
||||||
|
g_pca9685 = new PCA9685(PX4_I2C_BUS_EXPANSION, i2caddr); |
||||||
|
|
||||||
|
if (g_pca9685 != nullptr && OK != g_pca9685->init()) { |
||||||
|
delete g_pca9685; |
||||||
|
g_pca9685 = nullptr; |
||||||
|
} |
||||||
|
|
||||||
|
if (g_pca9685 == nullptr) { |
||||||
|
errx(1, "init failed"); |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
if (g_pca9685 == nullptr) { |
||||||
|
g_pca9685 = new PCA9685(i2cdevice, i2caddr); |
||||||
|
|
||||||
|
if (g_pca9685 == nullptr) { |
||||||
|
errx(1, "new failed"); |
||||||
|
} |
||||||
|
|
||||||
|
if (OK != g_pca9685->init()) { |
||||||
|
delete g_pca9685; |
||||||
|
g_pca9685 = nullptr; |
||||||
|
errx(1, "init failed"); |
||||||
|
} |
||||||
|
} |
||||||
|
fd = open(PCA9685_DEVICE_PATH, 0); |
||||||
|
if (fd == -1) { |
||||||
|
errx(1, "Unable to open " PCA9685_DEVICE_PATH); |
||||||
|
} |
||||||
|
ret = ioctl(fd, IOX_SET_MODE, (unsigned long)IOX_MODE_ON); |
||||||
|
close(fd); |
||||||
|
|
||||||
|
|
||||||
|
exit(0); |
||||||
|
} |
||||||
|
|
||||||
|
// need the driver past this point
|
||||||
|
if (g_pca9685 == nullptr) { |
||||||
|
warnx("not started, run pca9685 start"); |
||||||
|
exit(1); |
||||||
|
} |
||||||
|
|
||||||
|
if (!strcmp(verb, "info")) { |
||||||
|
g_pca9685->info(); |
||||||
|
exit(0); |
||||||
|
} |
||||||
|
|
||||||
|
if (!strcmp(verb, "reset")) { |
||||||
|
g_pca9685->reset(); |
||||||
|
exit(0); |
||||||
|
} |
||||||
|
|
||||||
|
|
||||||
|
if (!strcmp(verb, "test")) { |
||||||
|
fd = open(PCA9685_DEVICE_PATH, 0); |
||||||
|
|
||||||
|
if (fd == -1) { |
||||||
|
errx(1, "Unable to open " PCA9685_DEVICE_PATH); |
||||||
|
} |
||||||
|
|
||||||
|
ret = ioctl(fd, IOX_SET_MODE, (unsigned long)IOX_MODE_TEST_OUT); |
||||||
|
|
||||||
|
close(fd); |
||||||
|
exit(ret); |
||||||
|
} |
||||||
|
|
||||||
|
if (!strcmp(verb, "stop")) { |
||||||
|
fd = open(PCA9685_DEVICE_PATH, 0); |
||||||
|
|
||||||
|
if (fd == -1) { |
||||||
|
errx(1, "Unable to open " PCA9685_DEVICE_PATH); |
||||||
|
} |
||||||
|
|
||||||
|
ret = ioctl(fd, IOX_SET_MODE, (unsigned long)IOX_MODE_OFF); |
||||||
|
close(fd); |
||||||
|
|
||||||
|
// wait until we're not running any more
|
||||||
|
for (unsigned i = 0; i < 15; i++) { |
||||||
|
if (!g_pca9685->is_running()) { |
||||||
|
break; |
||||||
|
} |
||||||
|
|
||||||
|
usleep(50000); |
||||||
|
printf("."); |
||||||
|
fflush(stdout); |
||||||
|
} |
||||||
|
printf("\n"); |
||||||
|
fflush(stdout); |
||||||
|
|
||||||
|
if (!g_pca9685->is_running()) { |
||||||
|
delete g_pca9685; |
||||||
|
g_pca9685= nullptr; |
||||||
|
warnx("stopped, exiting"); |
||||||
|
exit(0); |
||||||
|
} else { |
||||||
|
warnx("stop failed."); |
||||||
|
exit(1); |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
pca9685_usage(); |
||||||
|
exit(0); |
||||||
|
} |
||||||
Loading…
Reference in new issue