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skeleton for adafruiti2cpwm driver

sbg
Thomas Gubler 11 years ago
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7dc5951673
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bb1a45ac42
3 changed files with 432 additions and 0 deletions
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  1. 362
      src/drivers/adafruiti2cpwm/adafruiti2cpwm.cpp
  2. 29
      src/drivers/adafruiti2cpwm/arduino_Adafruit_PWM_Servo_Driver_Library_license.txt
  3. 41
      src/drivers/adafruiti2cpwm/module.mk

362
src/drivers/adafruiti2cpwm/adafruiti2cpwm.cpp
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/****************************************************************************
*
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* 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.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "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
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file adafruiti2cpwm.cpp
*
* Driver for the adafruit I2C PWM converter based on the PCA9685
* https://www.adafruit.com/product/815
*
* some code is adapted from the arduino library for the board
* https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library
* see the arduino_Adafruit_PWM_Servo_Driver_Library_license.txt file
* see https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library for contributors
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <nuttx/config.h>
#include <drivers/device/i2c.h>
#include <sys/types.h>
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include <stdbool.h>
#include <fcntl.h>
#include <unistd.h>
#include <stdio.h>
#include <ctype.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
#include <board_config.h>
#include <drivers/drv_io_expander.h>
#define PCA9685_SUBADR1 0x2
#define PCA9685_SUBADR2 0x3
#define PCA9685_SUBADR3 0x4
#define PCA9685_MODE1 0x0
#define PCA9685_PRESCALE 0xFE
#define LED0_ON_L 0x6
#define LED0_ON_H 0x7
#define LED0_OFF_L 0x8
#define LED0_OFF_H 0x9
#define ALLLED_ON_L 0xFA
#define ALLLED_ON_H 0xFB
#define ALLLED_OFF_L 0xFC
#define ALLLED_OFF_H 0xFD
#define ADDR PCA9685_SUBADR1 ///< I2C adress
#define ADAFRUITI2CPWM_DEVICE_PATH "/dev/adafruiti2cpwm"
#define ADAFRUITI2CPWM_BUS PX4_I2C_BUS_EXPANSION
class ADAFRUITI2CPWM : public device::I2C
{
public:
ADAFRUITI2CPWM(int bus=ADAFRUITI2CPWM_BUS, uint8_t address=ADDR);
virtual ~ADAFRUITI2CPWM();
virtual int init();
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
bool is_running() { return _running; }
private:
work_s _work;
enum IOX_MODE _mode;
bool _running;
int _i2cpwm_interval;
bool _should_run;
static void i2cpwm_trampoline(void *arg);
void i2cpwm();
};
/* for now, we only support one board */
namespace
{
ADAFRUITI2CPWM *g_adafruiti2cpwm;
}
void adafruiti2cpwm_usage();
extern "C" __EXPORT int adafruiti2cpwm_main(int argc, char *argv[]);
ADAFRUITI2CPWM::ADAFRUITI2CPWM(int bus, uint8_t address) :
I2C("adafruiti2cpwm", ADAFRUITI2CPWM_DEVICE_PATH, bus, address, 100000),
_mode(IOX_MODE_OFF),
_running(false),
_i2cpwm_interval(SEC2TICK(1.0f/60.0f)),
_should_run(false)
{
memset(&_work, 0, sizeof(_work));
}
ADAFRUITI2CPWM::~ADAFRUITI2CPWM()
{
}
int
ADAFRUITI2CPWM::init()
{
int ret;
ret = I2C::init();
if (ret != OK) {
return ret;
}
return OK;
}
int
ADAFRUITI2CPWM::ioctl(struct file *filp, int cmd, unsigned long arg)
{
int ret = -EINVAL;
switch (cmd) {
case IOX_SET_MODE:
if (_mode != (IOX_MODE)arg) {
switch ((IOX_MODE)arg) {
case IOX_MODE_OFF:
case IOX_MODE_ON:
case IOX_MODE_TEST_OUT:
break;
default:
return -1;
}
_mode = (IOX_MODE)arg;
}
return OK;
default:
// see if the parent class can make any use of it
ret = CDev::ioctl(filp, cmd, arg);
break;
}
return ret;
}
void
ADAFRUITI2CPWM::i2cpwm_trampoline(void *arg)
{
ADAFRUITI2CPWM *i2cpwm = reinterpret_cast<ADAFRUITI2CPWM *>(arg);
i2cpwm->i2cpwm();
}
/**
* Main loop function
*/
void
ADAFRUITI2CPWM::i2cpwm()
{
if (_mode == IOX_MODE_TEST_OUT) {
_should_run = true;
} else if (_mode == IOX_MODE_OFF) {
_should_run = false;
} else {
}
// check if any activity remains, else stop
if (!_should_run) {
_running = false;
return;
}
// re-queue ourselves to run again later
_running = true;
work_queue(LPWORK, &_work, (worker_t)&ADAFRUITI2CPWM::i2cpwm_trampoline, this, _i2cpwm_interval);
}
void
print_usage()
{
warnx("missing command: try 'start', 'test', 'stop'");
warnx("options:");
warnx(" -b i2cbus (%d)", PX4_I2C_BUS_EXPANSION);
warnx(" -a addr (0x%x)", ADDR);
}
int
adafruiti2cpwm_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:
print_usage();
exit(0);
}
}
if (optind >= argc) {
print_usage();
exit(1);
}
const char *verb = argv[optind];
int fd;
int ret;
if (!strcmp(verb, "start")) {
if (g_adafruiti2cpwm != nullptr) {
errx(1, "already started");
}
if (i2cdevice == -1) {
// try the external bus first
i2cdevice = PX4_I2C_BUS_EXPANSION;
g_adafruiti2cpwm = new ADAFRUITI2CPWM(PX4_I2C_BUS_EXPANSION, i2caddr);
if (g_adafruiti2cpwm != nullptr && OK != g_adafruiti2cpwm->init()) {
delete g_adafruiti2cpwm;
g_adafruiti2cpwm = nullptr;
}
if (g_adafruiti2cpwm == nullptr) {
errx(1, "init failed");
}
}
if (g_adafruiti2cpwm == nullptr) {
g_adafruiti2cpwm = new ADAFRUITI2CPWM(i2cdevice, i2caddr);
if (g_adafruiti2cpwm == nullptr) {
errx(1, "new failed");
}
if (OK != g_adafruiti2cpwm->init()) {
delete g_adafruiti2cpwm;
g_adafruiti2cpwm = nullptr;
errx(1, "init failed");
}
}
exit(0);
}
// need the driver past this point
if (g_adafruiti2cpwm == nullptr) {
warnx("not started, run adafruiti2cpwm start");
exit(1);
}
if (!strcmp(verb, "test")) {
fd = open(ADAFRUITI2CPWM_DEVICE_PATH, 0);
if (fd == -1) {
errx(1, "Unable to open " ADAFRUITI2CPWM_DEVICE_PATH);
}
ret = ioctl(fd, IOX_SET_MODE, (unsigned long)IOX_MODE_TEST_OUT);
close(fd);
exit(ret);
}
if (!strcmp(verb, "stop")) {
fd = open(ADAFRUITI2CPWM_DEVICE_PATH, 0);
if (fd == -1) {
errx(1, "Unable to open " ADAFRUITI2CPWM_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_adafruiti2cpwm->is_running()) {
break;
}
usleep(50000);
printf(".");
fflush(stdout);
}
printf("\n");
fflush(stdout);
if (!g_adafruiti2cpwm->is_running()) {
delete g_adafruiti2cpwm;
g_adafruiti2cpwm= nullptr;
warnx("stopped, exiting");
exit(0);
} else {
warnx("stop failed.");
exit(1);
}
}
print_usage();
exit(0);
}

29
src/drivers/adafruiti2cpwm/arduino_Adafruit_PWM_Servo_Driver_Library_license.txt
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The following license agreement covers re-used code from the arduino driver
for the Adafruit I2C to PWM converter.
Software License Agreement (BSD License)
Copyright (c) 2012, Adafruit Industries
All rights reserved.
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 of the copyright holders nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''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 HOLDER 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 POSSIBILITY OF SUCH DAMAGE.

41
src/drivers/adafruiti2cpwm/module.mk
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############################################################################
#
# Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
#
# 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.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "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
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#
# Driver for the adafruit I2C PWM converter,
# which allow to control servos via I2C.
# https://www.adafruit.com/product/815
MODULE_COMMAND = adafruiti2cpwm
SRCS = adafruiti2cpwm.cpp
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