forked from Archive/PX4-Autopilot
New pca9685 pwm output driver
This commit is contained in:
SalimTerryLi
Daniel Agar
parent
693d532bba
commit
3ed8e876b7
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@ -22,6 +22,7 @@ px4_add_board(
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linux_sbus
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#magnetometer # all available magnetometer drivers
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magnetometer/hmc5883
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pca9685_pwm_out
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pwm_out_sim
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rc_input
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rpi_rc_in
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@ -0,0 +1,44 @@
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############################################################################
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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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px4_add_module(
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MODULE drivers__pca9685
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MAIN pca9685_pwm_out
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COMPILE_FLAGS
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SRCS
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main.cpp
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PCA9685.cpp
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DEPENDS
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mixer
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mixer_module
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output_limit
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)
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@ -0,0 +1,279 @@
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/****************************************************************************
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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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#include <px4_log.h>
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#include <cmath>
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#include "PCA9685.h"
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using namespace drv_pca9685_pwm;
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PCA9685::PCA9685(int bus, int addr):
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I2C("PCA9685", PWM_OUTPUT0_DEVICE_PATH, bus, addr, 400000)
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{
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}
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int PCA9685::Start()
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{
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int ret = init();
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return ret;
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}
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int PCA9685::Stop()
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{
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disableAllOutput();
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return PX4_OK;
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}
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int PCA9685::updatePWM(const uint16_t *outputs, unsigned num_outputs)
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{
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if (num_outputs > PCA9685_PWM_CHANNEL_COUNT) {
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num_outputs = PCA9685_PWM_CHANNEL_COUNT;
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PX4_WARN("PCA9685 can only drive up to 16 channels");
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}
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uint16_t out[PCA9685_PWM_CHANNEL_COUNT];
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memcpy(out, outputs, sizeof(uint16_t) * num_outputs);
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for (unsigned i = 0; i < num_outputs; ++i) {
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out[i] = (uint16_t)roundl((out[i] * _Freq * PCA9685_PWM_RES / (float)1e6)); // convert us to 12 bit resolution
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}
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setPWM(num_outputs, out);
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return 0;
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}
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int PCA9685::setFreq(int freq)
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{
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uint16_t realResolution = floorl((double)PCA9685_CLOCK_FREQ / freq);
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if (realResolution < PCA9685_PWM_RES) { // unable to provide enough resolution
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PX4_DEBUG("frequency too high");
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return -EINVAL;
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}
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uint16_t divider = (uint16_t)round((double)PCA9685_CLOCK_FREQ / freq / PCA9685_PWM_RES) - 1;
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if (divider > 0x00FF) { // out of divider
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PX4_DEBUG("frequency too low");
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return -EINVAL;
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}
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float freq_err = ((float)PCA9685_CLOCK_FREQ / (float)(divider + (uint16_t)1)
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- (float)(freq * PCA9685_PWM_RES))
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/ (float)(freq * PCA9685_PWM_RES); // actually asked for (freq * PCA9685_PWM_RES)
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if (fabsf(freq_err) > 0.01f) { // TODO decide threshold
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PX4_WARN("frequency error too large: %.4f", (double)freq_err);
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// should we return an error?
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}
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_Freq = (float)PCA9685_CLOCK_FREQ / (float)(divider + (uint16_t)1) / PCA9685_PWM_RES; // use actual pwm freq instead.
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setDivider(divider);
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return PX4_OK;
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}
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int PCA9685::init()
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{
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int ret = I2C::init();
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if (ret != PX4_OK) {
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PX4_DEBUG("I2C init failed.");
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return ret;
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}
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uint8_t buf[2] = {};
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buf[0] = PCA9685_REG_MODE1;
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buf[1] = DEFAULT_MODE1_CFG;
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ret = transfer(buf, 2, nullptr, 0);
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if (OK != ret) {
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PX4_DEBUG("i2c::transfer returned %d", ret);
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return ret;
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}
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buf[0] = PCA9685_REG_MODE2;
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buf[1] = DEFAULT_MODE2_CFG;
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ret = transfer(buf, 2, nullptr, 0);
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if (OK != ret) {
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PX4_DEBUG("i2c::transfer returned %d", ret);
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return ret;
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}
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disableAllOutput();
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return PX4_OK;
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}
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int PCA9685::probe()
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{
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return I2C::probe();
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}
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void PCA9685::setPWM(uint8_t channel, const uint16_t &value)
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{
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if (value >= 4096) {
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PX4_DEBUG("invalid pwm value");
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return;
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}
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uint8_t buf[5] = {};
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buf[0] = PCA9685_REG_LED0 + channel * PCA9685_REG_LED_INCREMENT;
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buf[1] = 0x00;
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buf[2] = 0x00;
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buf[3] = (uint8_t)(value & (uint8_t)0xFF);
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buf[4] = value != 0 ? ((uint8_t)(value >> (uint8_t)8)) : PCA9685_LED_ON_FULL_ON_OFF_MASK;
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int ret = transfer(buf, 5, nullptr, 0);
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if (OK != ret) {
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PX4_DEBUG("i2c::transfer returned %d", ret);
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}
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}
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void PCA9685::setPWM(uint8_t channel_count, const uint16_t *value)
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{
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uint8_t buf[PCA9685_PWM_CHANNEL_COUNT * PCA9685_REG_LED_INCREMENT + 1] = {};
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buf[0] = PCA9685_REG_LED0;
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for (int i = 0; i < channel_count; ++i) {
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if (value[i] >= 4096) {
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PX4_DEBUG("invalid pwm value");
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return;
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}
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buf[1 + i * PCA9685_REG_LED_INCREMENT] = 0x00;
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buf[2 + i * PCA9685_REG_LED_INCREMENT] = 0x00;
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buf[3 + i * PCA9685_REG_LED_INCREMENT] = (uint8_t)(value[i] & (uint8_t)0xFF);
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buf[4 + i * PCA9685_REG_LED_INCREMENT] = value[i] != 0 ? ((uint8_t)(value[i] >> (uint8_t)8)) :
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PCA9685_LED_ON_FULL_ON_OFF_MASK;
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}
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int ret = transfer(buf, channel_count * PCA9685_REG_LED_INCREMENT + 1, nullptr, 0);
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if (OK != ret) {
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PX4_DEBUG("i2c::transfer returned %d", ret);
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}
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}
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void PCA9685::disableAllOutput()
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{
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uint8_t buf[5] = {};
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buf[0] = PCA9685_REG_ALLLED_ON_L;
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buf[1] = 0x00;
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buf[2] = 0x00;
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buf[3] = (uint8_t)(0x00 & (uint8_t)0xFF);
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buf[4] = PCA9685_LED_ON_FULL_ON_OFF_MASK;
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int ret = transfer(buf, 5, nullptr, 0);
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if (OK != ret) {
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PX4_DEBUG("i2c::transfer returned %d", ret);
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}
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}
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void PCA9685::setDivider(uint8_t value)
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{
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disableAllOutput();
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stopOscillator();
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uint8_t buf[2] = {};
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buf[0] = PCA9685_REG_PRE_SCALE;
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buf[1] = value;
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int ret = transfer(buf, 2, nullptr, 0);
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if (OK != ret) {
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PX4_DEBUG("i2c::transfer returned %d", ret);
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return;
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}
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restartOscillator();
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}
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void PCA9685::stopOscillator()
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{
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uint8_t buf[2] = {PCA9685_REG_MODE1};
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int ret = transfer(buf, 1, buf, 1);
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if (OK != ret) {
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PX4_DEBUG("i2c::transfer returned %d", ret);
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return;
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}
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buf[1] = buf[0];
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buf[0] = PCA9685_REG_MODE1;
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// clear restart bit
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buf[1] |= PCA9685_MODE1_SLEEP_MASK;
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ret = transfer(buf, 2, nullptr, 0);
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if (OK != ret) {
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PX4_DEBUG("i2c::transfer returned %d", ret);
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return;
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}
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}
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void PCA9685::restartOscillator()
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{
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uint8_t buf[2] = {PCA9685_REG_MODE1};
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int ret = transfer(buf, 1, buf + 1, 1);
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if (OK != ret) {
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PX4_DEBUG("i2c::transfer returned %d", ret);
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return;
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}
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// clear restart and sleep bit
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buf[1] &= PCA9685_MODE1_EXTCLK_MASK | PCA9685_MODE1_AI_MASK
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| PCA9685_MODE1_SUB1_MASK | PCA9685_MODE1_SUB2_MASK
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| PCA9685_MODE1_SUB3_MASK | PCA9685_MODE1_ALLCALL_MASK;
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buf[0] = PCA9685_REG_MODE1;
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ret = transfer(buf, 2, nullptr, 0);
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if (OK != ret) {
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PX4_DEBUG("i2c::transfer returned %d", ret);
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return;
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}
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usleep(5000);
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buf[1] |= PCA9685_MODE1_RESTART_MASK;
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ret = transfer(buf, 2, nullptr, 0);
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if (OK != ret) {
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PX4_DEBUG("i2c::transfer returned %d", ret);
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return;
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}
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}
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@ -0,0 +1,163 @@
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/****************************************************************************
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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
|
||||
* 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
|
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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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#define PCA9685_CLOCK_INT 25000000.0 //25MHz internal clock
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#ifndef PCA9685_CLOCL_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 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 Start();
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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(int freq);
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~PCA9685() override = default;
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int init() override;
|
||||
|
||||
inline float getFrequency() {return _Freq;}
|
||||
|
||||
protected:
|
||||
int probe() override;
|
||||
|
||||
static const uint8_t DEFAULT_MODE1_CFG = 0x20;
|
||||
static const uint8_t DEFAULT_MODE2_CFG = 0x04;
|
||||
|
||||
float _Freq = PWM_DEFAULT_FREQUENCY;
|
||||
|
||||
/**
|
||||
* set PWM value for a channel[0,15].
|
||||
* value should be range of 0-4095
|
||||
*/
|
||||
void setPWM(uint8_t channel, const uint16_t &value);
|
||||
|
||||
/**
|
||||
* set all PWMs in a single I2C transmission.
|
||||
* value should be range of 0-4095
|
||||
*/
|
||||
void setPWM(uint8_t channel_count, const uint16_t *value);
|
||||
|
||||
/*
|
||||
* disable all of the output
|
||||
*/
|
||||
void disableAllOutput();
|
||||
|
||||
/*
|
||||
* set clock divider
|
||||
* this func has Super Cow Powers
|
||||
*/
|
||||
void setDivider(uint8_t value);
|
||||
|
||||
/*
|
||||
* turn off oscillator
|
||||
*/
|
||||
void stopOscillator();
|
||||
|
||||
/*
|
||||
* restart output
|
||||
*/
|
||||
void restartOscillator();
|
||||
private:
|
||||
|
||||
};
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,617 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2019 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 pca9685/main.cpp
|
||||
* A cross-platform driver and wrapper for pca9685.
|
||||
* Designed to support all control-groups by binding to correct mixer files
|
||||
* @author SalimTerryLi <lhf2613@gmail.com>
|
||||
*/
|
||||
|
||||
#include <px4_log.h>
|
||||
#include <drivers/device/device.h>
|
||||
#include <lib/mixer_module/mixer_module.hpp>
|
||||
#include <px4_platform_common/module.h>
|
||||
#include <lib/perf/perf_counter.h>
|
||||
#include <drivers/drv_mixer.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <px4_platform_common/getopt.h>
|
||||
|
||||
#include "PCA9685.h"
|
||||
|
||||
#define PCA9685_MAX_OUTPUT_CHANNELS 16
|
||||
#define PCA9685_DEVICE_BASE_PATH "/dev/pca9685"
|
||||
|
||||
#define PCA9685_DEFAULT_IICBUS 1
|
||||
#define PCA9685_DEFAULT_ADDRESS (0x40)
|
||||
|
||||
using namespace drv_pca9685_pwm;
|
||||
|
||||
class PWMDriverWrapper : public cdev::CDev, public ModuleBase<PWMDriverWrapper>, public OutputModuleInterface
|
||||
{
|
||||
public:
|
||||
|
||||
PWMDriverWrapper();
|
||||
~PWMDriverWrapper() override ;
|
||||
|
||||
int init() override;
|
||||
|
||||
int ioctl(cdev::file_t *filep, int cmd, unsigned long arg) override;
|
||||
|
||||
void mixerChanged() override;
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int task_spawn(int argc, char *argv[]);
|
||||
/** @see ModuleBase */
|
||||
static int custom_command(int argc, char *argv[]);
|
||||
/** @see ModuleBase */
|
||||
static int print_usage(const char *reason = nullptr);
|
||||
|
||||
bool updateOutputs(bool stop_motors, uint16_t *outputs, unsigned num_outputs,
|
||||
unsigned num_control_groups_updated) override;
|
||||
|
||||
PWMDriverWrapper(const PWMDriverWrapper &) = delete;
|
||||
PWMDriverWrapper operator=(const PWMDriverWrapper &) = delete;
|
||||
|
||||
int print_status() override;
|
||||
|
||||
private:
|
||||
perf_counter_t _cycle_perf;
|
||||
|
||||
void Run() override;
|
||||
|
||||
protected:
|
||||
void updateParams() override;
|
||||
|
||||
void updatePWMParams();
|
||||
|
||||
void updatePWMParamTrim();
|
||||
|
||||
PCA9685 *pca9685 = nullptr; // driver handle.
|
||||
|
||||
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; // param handle
|
||||
|
||||
MixingOutput _mixing_output{PCA9685_MAX_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, true};
|
||||
|
||||
private:
|
||||
|
||||
};
|
||||
|
||||
PWMDriverWrapper::PWMDriverWrapper() :
|
||||
CDev(PCA9685_DEVICE_BASE_PATH),
|
||||
OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default),
|
||||
_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
|
||||
{
|
||||
_mixing_output.setAllMinValues(PWM_DEFAULT_MIN);
|
||||
_mixing_output.setAllMaxValues(PWM_DEFAULT_MAX);
|
||||
}
|
||||
|
||||
PWMDriverWrapper::~PWMDriverWrapper()
|
||||
{
|
||||
if (pca9685 != nullptr) { // normally this should not be called.
|
||||
PX4_DEBUG("Destruction of PWMDriverWrapper without pwmDevice unloaded!");
|
||||
pca9685->Stop(); // force stop
|
||||
delete pca9685;
|
||||
pca9685 = nullptr;
|
||||
}
|
||||
|
||||
perf_free(_cycle_perf);
|
||||
}
|
||||
|
||||
int PWMDriverWrapper::init()
|
||||
{
|
||||
int ret = CDev::init();
|
||||
|
||||
if (ret != PX4_OK) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
ret = pca9685->Start();
|
||||
|
||||
if (ret != PX4_OK) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
updatePWMParams();
|
||||
|
||||
if (!_mixing_output.updateSubscriptions(true)) { // change to proper wq
|
||||
ScheduleNow();
|
||||
}
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
void PWMDriverWrapper::updateParams()
|
||||
{
|
||||
updatePWMParams();
|
||||
ModuleParams::updateParams();
|
||||
}
|
||||
|
||||
void PWMDriverWrapper::updatePWMParams()
|
||||
{
|
||||
// update pwm params
|
||||
const char *pname_format_main_max = "PWM_MAIN_MAX%d";
|
||||
const char *pname_format_main_min = "PWM_MAIN_MIN%d";
|
||||
const char *pname_format_main_fail = "PWM_MAIN_FAIL%d";
|
||||
const char *pname_format_main_dis = "PWM_MAIN_DIS%d";
|
||||
const char *pname_format_main_rev = "PWM_MAIN_REV%d";
|
||||
const char *pname_format_aux_max = "PWM_AUX_MAX%d";
|
||||
const char *pname_format_aux_min = "PWM_AUX_MIN%d";
|
||||
const char *pname_format_aux_fail = "PWM_AUX_FAIL%d";
|
||||
const char *pname_format_aux_dis = "PWM_AUX_DIS%d";
|
||||
const char *pname_format_aux_rev = "PWM_AUX_REV%d";
|
||||
|
||||
param_t param_h = param_find("PWM_MAX");
|
||||
|
||||
if (param_h != PARAM_INVALID) {
|
||||
int32_t pval = 0;
|
||||
param_get(param_h, &pval);
|
||||
_mixing_output.setAllMaxValues(pval);
|
||||
|
||||
} else {
|
||||
PX4_DEBUG("PARAM_INVALID: %s", "PWM_MAX");
|
||||
}
|
||||
|
||||
param_h = param_find("PWM_MIN");
|
||||
|
||||
if (param_h != PARAM_INVALID) {
|
||||
int32_t pval = 0;
|
||||
param_get(param_h, &pval);
|
||||
_mixing_output.setAllMinValues(pval);
|
||||
|
||||
} else {
|
||||
PX4_DEBUG("PARAM_INVALID: %s", "PWM_MIN");
|
||||
}
|
||||
|
||||
param_h = param_find("PWM_RATE");
|
||||
|
||||
if (param_h != PARAM_INVALID) {
|
||||
int32_t pval = 0;
|
||||
param_get(param_h, &pval);
|
||||
|
||||
if (pca9685->setFreq(pval) != PX4_OK) {
|
||||
PX4_DEBUG("failed to set pwm frequency");
|
||||
}
|
||||
|
||||
} else {
|
||||
PX4_DEBUG("PARAM_INVALID: %s", "PWM_RATE");
|
||||
}
|
||||
|
||||
for (int i = 0; i < 8; i++) {
|
||||
char pname[16];
|
||||
|
||||
sprintf(pname, pname_format_main_max, i + 1);
|
||||
param_h = param_find(pname);
|
||||
|
||||
if (param_h != PARAM_INVALID) {
|
||||
int32_t pval = 0;
|
||||
param_get(param_h, &pval);
|
||||
|
||||
if (pval != -1) {
|
||||
_mixing_output.maxValue(i) = pval;
|
||||
}
|
||||
|
||||
} else {
|
||||
PX4_DEBUG("PARAM_INVALID: %s", pname);
|
||||
}
|
||||
|
||||
sprintf(pname, pname_format_main_min, i + 1);
|
||||
param_h = param_find(pname);
|
||||
|
||||
if (param_h != PARAM_INVALID) {
|
||||
int32_t pval = 0;
|
||||
param_get(param_h, &pval);
|
||||
|
||||
if (pval != -1) {
|
||||
_mixing_output.minValue(i) = pval;
|
||||
}
|
||||
|
||||
} else {
|
||||
PX4_DEBUG("PARAM_INVALID: %s", pname);
|
||||
}
|
||||
|
||||
sprintf(pname, pname_format_main_fail, i + 1);
|
||||
param_h = param_find(pname);
|
||||
|
||||
if (param_h != PARAM_INVALID) {
|
||||
int32_t pval = 0;
|
||||
param_get(param_h, &pval);
|
||||
|
||||
if (pval != -1) {
|
||||
_mixing_output.failsafeValue(i) = pval;
|
||||
}
|
||||
|
||||
} else {
|
||||
PX4_DEBUG("PARAM_INVALID: %s", pname);
|
||||
}
|
||||
|
||||
sprintf(pname, pname_format_main_dis, i + 1);
|
||||
param_h = param_find(pname);
|
||||
|
||||
if (param_h != PARAM_INVALID) {
|
||||
int32_t pval = 0;
|
||||
param_get(param_h, &pval);
|
||||
|
||||
if (pval != -1) {
|
||||
_mixing_output.disarmedValue(i) = pval;
|
||||
}
|
||||
|
||||
} else {
|
||||
PX4_DEBUG("PARAM_INVALID: %s", pname);
|
||||
}
|
||||
|
||||
sprintf(pname, pname_format_main_rev, i + 1);
|
||||
param_h = param_find(pname);
|
||||
|
||||
if (param_h != PARAM_INVALID) {
|
||||
uint16_t &reverse_pwm_mask = _mixing_output.reverseOutputMask();
|
||||
int32_t pval = 0;
|
||||
param_get(param_h, &pval);
|
||||
reverse_pwm_mask &= (0xfffe << i); // clear this bit
|
||||
reverse_pwm_mask |= (((uint16_t)(pval != 0)) << i); // set to new val
|
||||
|
||||
} else {
|
||||
PX4_DEBUG("PARAM_INVALID: %s", pname);
|
||||
}
|
||||
|
||||
sprintf(pname, pname_format_aux_max, i + 1);
|
||||
param_h = param_find(pname);
|
||||
|
||||
if (param_h != PARAM_INVALID) {
|
||||
int32_t pval = 0;
|
||||
param_get(param_h, &pval);
|
||||
|
||||
if (pval != -1) {
|
||||
_mixing_output.maxValue(i + 8) = pval;
|
||||
}
|
||||
|
||||
} else {
|
||||
PX4_DEBUG("PARAM_INVALID: %s", pname);
|
||||
}
|
||||
|
||||
sprintf(pname, pname_format_aux_min, i + 1);
|
||||
param_h = param_find(pname);
|
||||
|
||||
if (param_h != PARAM_INVALID) {
|
||||
int32_t pval = 0;
|
||||
param_get(param_h, &pval);
|
||||
|
||||
if (pval != -1) {
|
||||
_mixing_output.minValue(i + 8) = pval;
|
||||
}
|
||||
|
||||
} else {
|
||||
PX4_DEBUG("PARAM_INVALID: %s", pname);
|
||||
}
|
||||
|
||||
sprintf(pname, pname_format_aux_fail, i + 1);
|
||||
param_h = param_find(pname);
|
||||
|
||||
if (param_h != PARAM_INVALID) {
|
||||
int32_t pval = 0;
|
||||
param_get(param_h, &pval);
|
||||
|
||||
if (pval != -1) {
|
||||
_mixing_output.failsafeValue(i + 8) = pval;
|
||||
}
|
||||
|
||||
} else {
|
||||
PX4_DEBUG("PARAM_INVALID: %s", pname);
|
||||
}
|
||||
|
||||
sprintf(pname, pname_format_aux_dis, i + 1);
|
||||
param_h = param_find(pname);
|
||||
|
||||
if (param_h != PARAM_INVALID) {
|
||||
int32_t pval = 0;
|
||||
param_get(param_h, &pval);
|
||||
|
||||
if (pval != -1) {
|
||||
_mixing_output.disarmedValue(i + 8) = pval;
|
||||
}
|
||||
|
||||
} else {
|
||||
PX4_DEBUG("PARAM_INVALID: %s", pname);
|
||||
}
|
||||
|
||||
sprintf(pname, pname_format_aux_rev, i + 1);
|
||||
param_h = param_find(pname);
|
||||
|
||||
if (param_h != PARAM_INVALID) {
|
||||
uint16_t &reverse_pwm_mask = _mixing_output.reverseOutputMask();
|
||||
int32_t pval = 0;
|
||||
param_get(param_h, &pval);
|
||||
reverse_pwm_mask &= (0xfffe << (i + 8)); // clear this bit
|
||||
reverse_pwm_mask |= (((uint16_t)(pval != 0)) << (i + 8)); // set to new val
|
||||
|
||||
} else {
|
||||
PX4_DEBUG("PARAM_INVALID: %s", pname);
|
||||
}
|
||||
}
|
||||
|
||||
if (_mixing_output.mixers()) { // only update trims if mixer loaded
|
||||
updatePWMParamTrim();
|
||||
}
|
||||
}
|
||||
|
||||
void PWMDriverWrapper::updatePWMParamTrim()
|
||||
{
|
||||
const char *pname_format_main_trim = "PWM_MAIN_TRIM%d";
|
||||
const char *pname_format_aux_trim = "PWM_AUX_TRIM%d";
|
||||
|
||||
int16_t trim_values[PCA9685_MAX_OUTPUT_CHANNELS] = {};
|
||||
|
||||
for (int i = 0; i < 8; i++) {
|
||||
char pname[16];
|
||||
|
||||
sprintf(pname, pname_format_main_trim, i + 1);
|
||||
param_t param_h = param_find(pname);
|
||||
|
||||
if (param_h != PARAM_INVALID) {
|
||||
float pval = 0.0f;
|
||||
param_get(param_h, &pval);
|
||||
trim_values[i] = (int16_t)(10000 * pval);
|
||||
|
||||
} else {
|
||||
PX4_DEBUG("PARAM_INVALID: %s", pname);
|
||||
}
|
||||
|
||||
sprintf(pname, pname_format_aux_trim, i + 1);
|
||||
param_h = param_find(pname);
|
||||
|
||||
if (param_h != PARAM_INVALID) {
|
||||
float pval = 0.0f;
|
||||
param_get(param_h, &pval);
|
||||
trim_values[i + 8] = (int16_t)(10000 * pval);
|
||||
|
||||
} else {
|
||||
PX4_DEBUG("PARAM_INVALID: %s", pname);
|
||||
}
|
||||
}
|
||||
|
||||
unsigned n_out = _mixing_output.mixers()->set_trims(trim_values, PCA9685_MAX_OUTPUT_CHANNELS);
|
||||
PX4_DEBUG("set %d trims", n_out);
|
||||
}
|
||||
|
||||
bool PWMDriverWrapper::updateOutputs(bool stop_motors, uint16_t *outputs, unsigned num_outputs,
|
||||
unsigned num_control_groups_updated)
|
||||
{
|
||||
/*char buf[1024]="PWM:";
|
||||
for(uint i=0;i<num_outputs;++i){
|
||||
sprintf(buf,"%s %.4d",buf,outputs[i]);
|
||||
}
|
||||
PX4_INFO("%s",buf);*/
|
||||
return pca9685->updatePWM(outputs, num_outputs);;
|
||||
}
|
||||
|
||||
void PWMDriverWrapper::Run()
|
||||
{
|
||||
hrt_abstime timestamp = hrt_absolute_time();
|
||||
|
||||
if (should_exit()) {
|
||||
PX4_INFO("PCA9685 stopping.");
|
||||
ScheduleClear();
|
||||
_mixing_output.unregister();
|
||||
|
||||
pca9685->Stop();
|
||||
delete pca9685;
|
||||
pca9685 = nullptr;
|
||||
|
||||
exit_and_cleanup();
|
||||
return;
|
||||
}
|
||||
|
||||
perf_begin(_cycle_perf);
|
||||
|
||||
_mixing_output.update();
|
||||
|
||||
// check for parameter updates
|
||||
if (_parameter_update_sub.updated()) {
|
||||
// clear update
|
||||
parameter_update_s pupdate;
|
||||
_parameter_update_sub.copy(&pupdate);
|
||||
|
||||
// update parameters from storage
|
||||
updateParams();
|
||||
}
|
||||
|
||||
perf_end(_cycle_perf);
|
||||
|
||||
int nextDelay = 1000000 / pca9685->getFrequency() - (hrt_absolute_time() - timestamp);
|
||||
|
||||
if (nextDelay < 0) {
|
||||
PX4_DEBUG("PCA9685: can not follow up. %d us");
|
||||
ScheduleNow();
|
||||
|
||||
} else {
|
||||
ScheduleDelayed((uint32_t)nextDelay);
|
||||
}
|
||||
}
|
||||
|
||||
// TODO
|
||||
int PWMDriverWrapper::ioctl(cdev::file_t *filep, int cmd, unsigned long arg)
|
||||
{
|
||||
int ret = OK;
|
||||
|
||||
lock();
|
||||
|
||||
switch (cmd) {
|
||||
case MIXERIOCRESET:
|
||||
_mixing_output.resetMixerThreadSafe();
|
||||
|
||||
break;
|
||||
|
||||
case MIXERIOCLOADBUF: {
|
||||
const char *buf = (const char *)arg;
|
||||
unsigned buflen = strlen(buf);
|
||||
|
||||
ret = _mixing_output.loadMixerThreadSafe(buf, buflen);
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
default:
|
||||
ret = -ENOTTY;
|
||||
break;
|
||||
}
|
||||
|
||||
unlock();
|
||||
|
||||
if (ret == -ENOTTY) {
|
||||
ret = CDev::ioctl(filep, cmd, arg);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int PWMDriverWrapper::print_usage(const char *reason)
|
||||
{
|
||||
if (reason) {
|
||||
PX4_WARN("%s\n", reason);
|
||||
}
|
||||
|
||||
PRINT_MODULE_DESCRIPTION(
|
||||
R"DESCR_STR(
|
||||
### Description
|
||||
This module is responsible for generate pwm pulse with PCA9685 chip.
|
||||
|
||||
It listens on the actuator_controls topics, does the mixing and writes the PWM outputs.
|
||||
|
||||
### Implementation
|
||||
This module depends on ModuleBase and OutputModuleInterface.
|
||||
IIC communication is based on CDev::I2C
|
||||
|
||||
### Examples
|
||||
It is typically started with:
|
||||
$ pca9685_pwm_out start -a 64 -b 1
|
||||
|
||||
Use the `mixer` command to load mixer files.
|
||||
`mixer load /dev/pca9685 ROMFS/px4fmu_common/mixers/quad_x.main.mix`
|
||||
)DESCR_STR");
|
||||
|
||||
PRINT_MODULE_USAGE_NAME("pca9685_pwm_out", "driver");
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the task");
|
||||
PRINT_MODULE_USAGE_PARAM_INT('a',64,0,255,"device address on this bus",true);
|
||||
PRINT_MODULE_USAGE_PARAM_INT('b',1,0,255,"bus that pca9685 is connected to",true);
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int PWMDriverWrapper::print_status() {
|
||||
int ret = ModuleBase::print_status();
|
||||
PX4_INFO("PCA9685 @I2C Bus %d, address 0x%.2x, true frequency %.5f",
|
||||
pca9685->get_device_bus(),
|
||||
pca9685->get_device_address(),
|
||||
(double)(pca9685->getFrequency()));
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int PWMDriverWrapper::custom_command(int argc, char **argv) { // only for test use
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
int PWMDriverWrapper::task_spawn(int argc, char **argv) {
|
||||
|
||||
auto *instance = new PWMDriverWrapper();
|
||||
|
||||
if (instance) {
|
||||
_object.store(instance);
|
||||
_task_id = task_id_is_work_queue;
|
||||
|
||||
int ch;
|
||||
int address=PCA9685_DEFAULT_ADDRESS;
|
||||
int iicbus=PCA9685_DEFAULT_IICBUS;
|
||||
|
||||
int myoptind = 1;
|
||||
const char *myoptarg = nullptr;
|
||||
while ((ch = px4_getopt(argc, argv, "a:b:", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'a':
|
||||
address = atoi(myoptarg);
|
||||
break;
|
||||
|
||||
case 'b':
|
||||
iicbus = atoi(myoptarg);
|
||||
break;
|
||||
|
||||
case '?':
|
||||
PX4_WARN("Unsupported args");
|
||||
goto driverInstanceAllocFailed;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
instance->pca9685 = new PCA9685(iicbus, address);
|
||||
if(instance->pca9685==nullptr){
|
||||
PX4_ERR("alloc failed");
|
||||
goto driverInstanceAllocFailed;
|
||||
}
|
||||
|
||||
if (instance->init() == PX4_OK) {
|
||||
return PX4_OK;
|
||||
} else {
|
||||
PX4_ERR("driver init failed");
|
||||
delete instance->pca9685;
|
||||
instance->pca9685=nullptr;
|
||||
}
|
||||
} else {
|
||||
PX4_ERR("alloc failed");
|
||||
}
|
||||
|
||||
driverInstanceAllocFailed:
|
||||
delete instance;
|
||||
_object.store(nullptr);
|
||||
_task_id = -1;
|
||||
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
void PWMDriverWrapper::mixerChanged() {
|
||||
OutputModuleInterface::mixerChanged();
|
||||
if (_mixing_output.mixers()) { // only update trims if mixer loaded
|
||||
updatePWMParamTrim();
|
||||
}
|
||||
if(!_mixing_output.updateSubscriptions(true)) { // change to proper wq
|
||||
ScheduleNow();
|
||||
}
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int pca9685_pwm_out_main(int argc, char *argv[]);
|
||||
|
||||
int pca9685_pwm_out_main(int argc, char *argv[]){
|
||||
return PWMDriverWrapper::main(argc, argv);
|
||||
}
|
||||
Loading…
Reference in New Issue