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px4-firmware
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rename adafruiti2cpwm to pca9685

This commit is contained in:
Thomas Gubler 2014-08-20 16:21:02 +02:00
parent dd85c0407c
commit c414417cf8
3 changed files with 78 additions and 77 deletions
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0
src/drivers/adafruiti2cpwm/arduino_Adafruit_PWM_Servo_Driver_Library_license.txt → src/drivers/pca9685/arduino_Adafruit_PWM_Servo_Driver_Library_license.txt
View File

9
src/drivers/adafruiti2cpwm/module.mk → src/drivers/pca9685/module.mk
View File

@ -32,10 +32,11 @@
############################################################################
#
# Driver for the adafruit I2C PWM converter,
# which allow to control servos via I2C.
# Driver for the PCA9685 I2C PWM controller
# The chip is used on the adafruit I2C PWM converter,
# which allows to control servos via I2C.
# https://www.adafruit.com/product/815
MODULE_COMMAND = adafruiti2cpwm
MODULE_COMMAND = pca9685
SRCS = adafruiti2cpwm.cpp
SRCS = pca9685.cpp

146
src/drivers/adafruiti2cpwm/adafruiti2cpwm.cpp → src/drivers/pca9685/pca9685.cpp
View File

@ -32,10 +32,10 @@
****************************************************************************/
/**
* @file adafruiti2cpwm.cpp
* @file pca9685.cpp
*
* Driver for the adafruit I2C PWM converter based on the PCA9685
* https://www.adafruit.com/product/815
* Driver for the PCA9685 I2C PWM module
* The chip is used on the Adafruit I2C/PWM converter https://www.adafruit.com/product/815
*
* Parts of the code are adapted from the arduino library for the board
* https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library
@ -93,18 +93,18 @@
#define ADDR 0x40 // I2C adress
#define ADAFRUITI2CPWM_DEVICE_PATH "/dev/adafruiti2cpwm"
#define ADAFRUITI2CPWM_BUS PX4_I2C_BUS_EXPANSION
#define ADAFRUITI2CPWM_PWMFREQ 60.0f
#define ADAFRUITI2CPWM_NCHANS 16 // total amount of pwm outputs
#define PCA9685_DEVICE_PATH "/dev/pca9685"
#define PCA9685_BUS PX4_I2C_BUS_EXPANSION
#define PCA9685_PWMFREQ 60.0f
#define PCA9685_NCHANS 16 // total amount of pwm outputs
#define ADAFRUITI2CPWM_SERVOMIN 150 // this is the 'minimum' pulse length count (out of 4096)
#define ADAFRUITI2CPWM_SERVOMAX 600 // this is the 'maximum' pulse length count (out of 4096)_PWMFREQ 60.0f
#define PCA9685_SERVOMIN 150 // this is the 'minimum' pulse length count (out of 4096)
#define PCA9685_SERVOMAX 600 // this is the 'maximum' pulse length count (out of 4096)_PWMFREQ 60.0f
#define ADAFRUITI2CPWM_HALFRANGE ((ADAFRUITI2CPWM_SERVOMAX - ADAFRUITI2CPWM_SERVOMIN)/2)
#define ADAFRUITI2CPWM_CENTER (ADAFRUITI2CPWM_SERVOMIN + ADAFRUITI2CPWM_HALFRANGE)
#define ADAFRUITI2CPWM_MAXSERVODEG 45 //maximal defelction in degrees
#define ADAFRUITI2CPWM_SCALE (ADAFRUITI2CPWM_HALFRANGE / (M_DEG_TO_RAD_F * ADAFRUITI2CPWM_MAXSERVODEG))
#define PCA9685_HALFRANGE ((PCA9685_SERVOMAX - PCA9685_SERVOMIN)/2)
#define PCA9685_CENTER (PCA9685_SERVOMIN + PCA9685_HALFRANGE)
#define PCA9685_MAXSERVODEG 45 //maximal defelction in degrees
#define PCA9685_SCALE (PCA9685_HALFRANGE / (M_DEG_TO_RAD_F * PCA9685_MAXSERVODEG))
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
@ -112,11 +112,11 @@
#endif
static const int ERROR = -1;
class ADAFRUITI2CPWM : public device::I2C
class PCA9685 : public device::I2C
{
public:
ADAFRUITI2CPWM(int bus=ADAFRUITI2CPWM_BUS, uint8_t address=ADDR);
virtual ~ADAFRUITI2CPWM();
PCA9685(int bus=PCA9685_BUS, uint8_t address=ADDR);
virtual ~PCA9685();
virtual int init();
@ -179,15 +179,15 @@ private:
/* for now, we only support one board */
namespace
{
ADAFRUITI2CPWM *g_adafruiti2cpwm;
PCA9685 *g_pca9685;
}
void adafruiti2cpwm_usage();
void pca9685_usage();
extern "C" __EXPORT int adafruiti2cpwm_main(int argc, char *argv[]);
extern "C" __EXPORT int pca9685_main(int argc, char *argv[]);
ADAFRUITI2CPWM::ADAFRUITI2CPWM(int bus, uint8_t address) :
I2C("adafruiti2cpwm", ADAFRUITI2CPWM_DEVICE_PATH, bus, address, 100000),
PCA9685::PCA9685(int bus, uint8_t address) :
I2C("pca9685", PCA9685_DEVICE_PATH, bus, address, 100000),
_mode(IOX_MODE_OFF),
_running(false),
_i2cpwm_interval(SEC2TICK(1.0f/60.0f)),
@ -202,12 +202,12 @@ ADAFRUITI2CPWM::ADAFRUITI2CPWM(int bus, uint8_t address) :
memset(_current_values, 0, sizeof(_current_values));
}
ADAFRUITI2CPWM::~ADAFRUITI2CPWM()
PCA9685::~PCA9685()
{
}
int
ADAFRUITI2CPWM::init()
PCA9685::init()
{
int ret;
ret = I2C::init();
@ -220,13 +220,13 @@ ADAFRUITI2CPWM::init()
return ret;
}
ret = setPWMFreq(ADAFRUITI2CPWM_PWMFREQ);
ret = setPWMFreq(PCA9685_PWMFREQ);
return ret;
}
int
ADAFRUITI2CPWM::ioctl(struct file *filp, int cmd, unsigned long arg)
PCA9685::ioctl(struct file *filp, int cmd, unsigned long arg)
{
int ret = -EINVAL;
switch (cmd) {
@ -256,7 +256,7 @@ ADAFRUITI2CPWM::ioctl(struct file *filp, int cmd, unsigned long arg)
// if not active, kick it
if (!_running) {
_running = true;
work_queue(LPWORK, &_work, (worker_t)&ADAFRUITI2CPWM::i2cpwm_trampoline, this, 1);
work_queue(LPWORK, &_work, (worker_t)&PCA9685::i2cpwm_trampoline, this, 1);
}
@ -272,7 +272,7 @@ ADAFRUITI2CPWM::ioctl(struct file *filp, int cmd, unsigned long arg)
}
int
ADAFRUITI2CPWM::info()
PCA9685::info()
{
int ret = OK;
@ -286,9 +286,9 @@ ADAFRUITI2CPWM::info()
}
void
ADAFRUITI2CPWM::i2cpwm_trampoline(void *arg)
PCA9685::i2cpwm_trampoline(void *arg)
{
ADAFRUITI2CPWM *i2cpwm = reinterpret_cast<ADAFRUITI2CPWM *>(arg);
PCA9685 *i2cpwm = reinterpret_cast<PCA9685 *>(arg);
i2cpwm->i2cpwm();
}
@ -297,10 +297,10 @@ ADAFRUITI2CPWM::i2cpwm_trampoline(void *arg)
* Main loop function
*/
void
ADAFRUITI2CPWM::i2cpwm()
PCA9685::i2cpwm()
{
if (_mode == IOX_MODE_TEST_OUT) {
setPin(0, ADAFRUITI2CPWM_CENTER);
setPin(0, PCA9685_CENTER);
_should_run = true;
} else if (_mode == IOX_MODE_OFF) {
_should_run = false;
@ -309,7 +309,7 @@ ADAFRUITI2CPWM::i2cpwm()
/* Subscribe to actuator control 2 (payload group for gimbal) */
_actuator_controls_sub = orb_subscribe(ORB_ID(actuator_controls_2));
/* set the uorb update interval lower than the driver pwm interval */
orb_set_interval(_actuator_controls_sub, 1000.0f / ADAFRUITI2CPWM_PWMFREQ - 5);
orb_set_interval(_actuator_controls_sub, 1000.0f / PCA9685_PWMFREQ - 5);
_mode_on_initialized = true;
}
@ -320,14 +320,14 @@ ADAFRUITI2CPWM::i2cpwm()
if (updated) {
orb_copy(ORB_ID(actuator_controls_2), _actuator_controls_sub, &_actuator_controls);
for (int i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
uint16_t new_value = ADAFRUITI2CPWM_CENTER +
(_actuator_controls.control[i] * ADAFRUITI2CPWM_SCALE);
uint16_t new_value = PCA9685_CENTER +
(_actuator_controls.control[i] * PCA9685_SCALE);
debug("%d: current: %u, new %u, control %.2f", i, _current_values[i], new_value,
(double)_actuator_controls.control[i]);
if (new_value != _current_values[i] &&
isfinite(new_value) &&
new_value >= 0 &&
new_value <= ADAFRUITI2CPWM_SERVOMAX) {
new_value <= PCA9685_SERVOMAX) {
/* This value was updated, send the command to adjust the PWM value */
setPin(i, new_value);
_current_values[i] = new_value;
@ -345,11 +345,11 @@ ADAFRUITI2CPWM::i2cpwm()
// re-queue ourselves to run again later
_running = true;
work_queue(LPWORK, &_work, (worker_t)&ADAFRUITI2CPWM::i2cpwm_trampoline, this, _i2cpwm_interval);
work_queue(LPWORK, &_work, (worker_t)&PCA9685::i2cpwm_trampoline, this, _i2cpwm_interval);
}
int
ADAFRUITI2CPWM::setPWM(uint8_t num, uint16_t on, uint16_t off)
PCA9685::setPWM(uint8_t num, uint16_t on, uint16_t off)
{
int ret;
/* convert to correct message */
@ -371,7 +371,7 @@ ADAFRUITI2CPWM::setPWM(uint8_t num, uint16_t on, uint16_t off)
}
int
ADAFRUITI2CPWM::setPin(uint8_t num, uint16_t val, bool invert)
PCA9685::setPin(uint8_t num, uint16_t val, bool invert)
{
// Clamp value between 0 and 4095 inclusive.
if (val > 4095) {
@ -403,7 +403,7 @@ ADAFRUITI2CPWM::setPin(uint8_t num, uint16_t val, bool invert)
}
int
ADAFRUITI2CPWM::setPWMFreq(float freq)
PCA9685::setPWMFreq(float freq)
{
int ret = OK;
freq *= 0.9f; /* Correct for overshoot in the frequency setting (see issue
@ -445,7 +445,7 @@ ADAFRUITI2CPWM::setPWMFreq(float freq)
/* Wrapper to read a byte from addr */
int
ADAFRUITI2CPWM::read8(uint8_t addr, uint8_t &value)
PCA9685::read8(uint8_t addr, uint8_t &value)
{
int ret = OK;
@ -470,14 +470,14 @@ fail_read:
return ret;
}
int ADAFRUITI2CPWM::reset(void) {
int PCA9685::reset(void) {
warnx("resetting");
return write8(PCA9685_MODE1, 0x0);
}
/* Wrapper to wite a byte to addr */
int
ADAFRUITI2CPWM::write8(uint8_t addr, uint8_t value) {
PCA9685::write8(uint8_t addr, uint8_t value) {
int ret = OK;
_msg[0] = addr;
_msg[1] = value;
@ -491,7 +491,7 @@ ADAFRUITI2CPWM::write8(uint8_t addr, uint8_t value) {
}
void
adafruiti2cpwm_usage()
pca9685_usage()
{
warnx("missing command: try 'start', 'test', 'stop', 'info'");
warnx("options:");
@ -500,7 +500,7 @@ adafruiti2cpwm_usage()
}
int
adafruiti2cpwm_main(int argc, char *argv[])
pca9685_main(int argc, char *argv[])
{
int i2cdevice = -1;
int i2caddr = ADDR; // 7bit
@ -519,13 +519,13 @@ adafruiti2cpwm_main(int argc, char *argv[])
break;
default:
adafruiti2cpwm_usage();
pca9685_usage();
exit(0);
}
}
if (optind >= argc) {
adafruiti2cpwm_usage();
pca9685_usage();
exit(1);
}
@ -535,41 +535,41 @@ adafruiti2cpwm_main(int argc, char *argv[])
int ret;
if (!strcmp(verb, "start")) {
if (g_adafruiti2cpwm != nullptr) {
if (g_pca9685 != 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);
g_pca9685 = new PCA9685(PX4_I2C_BUS_EXPANSION, i2caddr);
if (g_adafruiti2cpwm != nullptr && OK != g_adafruiti2cpwm->init()) {
delete g_adafruiti2cpwm;
g_adafruiti2cpwm = nullptr;
if (g_pca9685 != nullptr && OK != g_pca9685->init()) {
delete g_pca9685;
g_pca9685 = nullptr;
}
if (g_adafruiti2cpwm == nullptr) {
if (g_pca9685 == nullptr) {
errx(1, "init failed");
}
}
if (g_adafruiti2cpwm == nullptr) {
g_adafruiti2cpwm = new ADAFRUITI2CPWM(i2cdevice, i2caddr);
if (g_pca9685 == nullptr) {
g_pca9685 = new PCA9685(i2cdevice, i2caddr);
if (g_adafruiti2cpwm == nullptr) {
if (g_pca9685 == nullptr) {
errx(1, "new failed");
}
if (OK != g_adafruiti2cpwm->init()) {
delete g_adafruiti2cpwm;
g_adafruiti2cpwm = nullptr;
if (OK != g_pca9685->init()) {
delete g_pca9685;
g_pca9685 = nullptr;
errx(1, "init failed");
}
}
fd = open(ADAFRUITI2CPWM_DEVICE_PATH, 0);
fd = open(PCA9685_DEVICE_PATH, 0);
if (fd == -1) {
errx(1, "Unable to open " ADAFRUITI2CPWM_DEVICE_PATH);
errx(1, "Unable to open " PCA9685_DEVICE_PATH);
}
ret = ioctl(fd, IOX_SET_MODE, (unsigned long)IOX_MODE_ON);
close(fd);
@ -579,27 +579,27 @@ adafruiti2cpwm_main(int argc, char *argv[])
}
// need the driver past this point
if (g_adafruiti2cpwm == nullptr) {
warnx("not started, run adafruiti2cpwm start");
if (g_pca9685 == nullptr) {
warnx("not started, run pca9685 start");
exit(1);
}
if (!strcmp(verb, "info")) {
g_adafruiti2cpwm->info();
g_pca9685->info();
exit(0);
}
if (!strcmp(verb, "reset")) {
g_adafruiti2cpwm->reset();
g_pca9685->reset();
exit(0);
}
if (!strcmp(verb, "test")) {
fd = open(ADAFRUITI2CPWM_DEVICE_PATH, 0);
fd = open(PCA9685_DEVICE_PATH, 0);
if (fd == -1) {
errx(1, "Unable to open " ADAFRUITI2CPWM_DEVICE_PATH);
errx(1, "Unable to open " PCA9685_DEVICE_PATH);
}
ret = ioctl(fd, IOX_SET_MODE, (unsigned long)IOX_MODE_TEST_OUT);
@ -609,10 +609,10 @@ adafruiti2cpwm_main(int argc, char *argv[])
}
if (!strcmp(verb, "stop")) {
fd = open(ADAFRUITI2CPWM_DEVICE_PATH, 0);
fd = open(PCA9685_DEVICE_PATH, 0);
if (fd == -1) {
errx(1, "Unable to open " ADAFRUITI2CPWM_DEVICE_PATH);
errx(1, "Unable to open " PCA9685_DEVICE_PATH);
}
ret = ioctl(fd, IOX_SET_MODE, (unsigned long)IOX_MODE_OFF);
@ -620,7 +620,7 @@ adafruiti2cpwm_main(int argc, char *argv[])
// wait until we're not running any more
for (unsigned i = 0; i < 15; i++) {
if (!g_adafruiti2cpwm->is_running()) {
if (!g_pca9685->is_running()) {
break;
}
@ -631,9 +631,9 @@ adafruiti2cpwm_main(int argc, char *argv[])
printf("\n");
fflush(stdout);
if (!g_adafruiti2cpwm->is_running()) {
delete g_adafruiti2cpwm;
g_adafruiti2cpwm= nullptr;
if (!g_pca9685->is_running()) {
delete g_pca9685;
g_pca9685= nullptr;
warnx("stopped, exiting");
exit(0);
} else {
@ -642,6 +642,6 @@ adafruiti2cpwm_main(int argc, char *argv[])
}
}
adafruiti2cpwm_usage();
pca9685_usage();
exit(0);
}