Browse Source
This also removes the pca9685 output, which was unused, and there's also pca9685_pwm_out.release/1.12
Beat Küng
4 years ago
committed by
Daniel Agar
18 changed files with 63 additions and 422 deletions
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@@ -1,193 +0,0 @@
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/****************************************************************************
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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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#include <sys/stat.h> |
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#include <sys/ioctl.h> |
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#include <unistd.h> |
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#include <linux/i2c-dev.h> |
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#include <stdio.h> /* Standard I/O functions */ |
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#include <fcntl.h> |
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#include <inttypes.h> |
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#include <errno.h> |
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#include <math.h> |
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#include <stdio.h> |
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#include <unistd.h> |
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#include "PCA9685.h" |
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#include <px4_platform_common/log.h> |
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using namespace linux_pwm_out; |
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int PCA9685::init(int bus, int address) |
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{ |
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_fd = open_fd(bus, address); |
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reset(); |
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usleep(1000 * 100); |
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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, supported by most of the esc's */ |
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setPWMFreq(200); |
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usleep(1000 * 1000); |
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return 0; |
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} |
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int PCA9685::send_output_pwm(const uint16_t *pwm, int num_outputs) |
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{ |
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if (num_outputs > 16) { |
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num_outputs = 16; |
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} |
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for (int i = 0; i < num_outputs; ++i) { |
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setPWM(i, pwm[i]); |
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} |
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return 0; |
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} |
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PCA9685::PCA9685() |
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{ |
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init(PCA9685_DEFAULT_I2C_BUS, PCA9685_DEFAULT_I2C_ADDR); |
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} |
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PCA9685::PCA9685(int bus, int address) |
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{ |
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init(bus, address); |
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} |
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PCA9685::~PCA9685() |
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{ |
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reset(); |
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if (_fd >= 0) { |
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close(_fd); |
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} |
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} |
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void PCA9685::reset() |
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{ |
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if (_fd != -1) { |
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write_byte(_fd, MODE1, 0x00); //Normal mode
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write_byte(_fd, MODE2, 0x04); //Normal mode
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} |
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} |
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void PCA9685::setPWMFreq(int freq) |
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{ |
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if (_fd != -1) { |
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uint8_t prescale = (CLOCK_FREQ / MAX_PWM_RES / freq) - 1; |
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//printf ("Setting prescale value to: %d\n", prescale);
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//printf ("Using Frequency: %d\n", freq);
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uint8_t oldmode = read_byte(_fd, MODE1); |
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uint8_t newmode = (oldmode & 0x7F) | 0x10; //sleep
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write_byte(_fd, MODE1, newmode); // go to sleep
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write_byte(_fd, PRE_SCALE, prescale); |
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write_byte(_fd, MODE1, oldmode); |
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usleep(10 * 1000); |
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write_byte(_fd, MODE1, oldmode | 0x80); |
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} |
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} |
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void PCA9685::setPWM(uint8_t led, int value) |
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{ |
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setPWM(led, 0, value); |
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} |
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void PCA9685::setPWM(uint8_t led, int on_value, int off_value) |
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{ |
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if (_fd != -1) { |
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write_byte(_fd, LED0_ON_L + LED_MULTIPLYER * led, on_value & 0xFF); |
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write_byte(_fd, LED0_ON_H + LED_MULTIPLYER * led, on_value >> 8); |
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write_byte(_fd, LED0_OFF_L + LED_MULTIPLYER * led, off_value & 0xFF); |
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write_byte(_fd, LED0_OFF_H + LED_MULTIPLYER * led, off_value >> 8); |
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} |
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} |
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uint8_t PCA9685::read_byte(int fd, uint8_t address) |
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{ |
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uint8_t buf[1]; |
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buf[0] = address; |
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if (write(fd, buf, 1) != 1) { |
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return -1; |
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} |
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if (read(fd, buf, 1) != 1) { |
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return -1; |
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} |
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return buf[0]; |
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} |
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void PCA9685::write_byte(int fd, uint8_t address, uint8_t data) |
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{ |
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uint8_t buf[2]; |
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buf[0] = address; |
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buf[1] = data; |
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if (write(fd, buf, sizeof(buf)) != sizeof(buf)) { |
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PX4_ERR("Write failed (%i)", errno); |
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} |
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} |
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int PCA9685::open_fd(int bus, int address) |
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{ |
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int fd; |
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char bus_file[64]; |
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snprintf(bus_file, sizeof(bus_file), "/dev/i2c-%d", bus); |
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if ((fd = open(bus_file, O_RDWR)) < 0) { |
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PX4_ERR("Couldn't open I2C Bus %d [open_fd():open %d]", bus, errno); |
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return -1; |
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} |
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if (ioctl(fd, I2C_SLAVE, address) < 0) { |
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PX4_ERR("I2C slave %d failed [open_fd():ioctl %d]", address, errno); |
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return -1; |
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} |
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return fd; |
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} |
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@ -1,143 +0,0 @@
@@ -1,143 +0,0 @@
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/****************************************************************************
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* |
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* Copyright (c) 2017 PX4 Development Team. All rights reserved. |
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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. |
||||
* |
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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 |
||||
* 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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* 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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