From c414417cf8801f690582876cd723eca7273cbe6b Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Wed, 20 Aug 2014 16:21:02 +0200 Subject: [PATCH] rename adafruiti2cpwm to pca9685 --- ...fruit_PWM_Servo_Driver_Library_license.txt | 0 .../{adafruiti2cpwm => pca9685}/module.mk | 9 +- .../pca9685.cpp} | 146 +++++++++--------- 3 files changed, 78 insertions(+), 77 deletions(-) rename src/drivers/{adafruiti2cpwm => pca9685}/arduino_Adafruit_PWM_Servo_Driver_Library_license.txt (100%) rename src/drivers/{adafruiti2cpwm => pca9685}/module.mk (90%) rename src/drivers/{adafruiti2cpwm/adafruiti2cpwm.cpp => pca9685/pca9685.cpp} (76%) diff --git a/src/drivers/adafruiti2cpwm/arduino_Adafruit_PWM_Servo_Driver_Library_license.txt b/src/drivers/pca9685/arduino_Adafruit_PWM_Servo_Driver_Library_license.txt similarity index 100% rename from src/drivers/adafruiti2cpwm/arduino_Adafruit_PWM_Servo_Driver_Library_license.txt rename to src/drivers/pca9685/arduino_Adafruit_PWM_Servo_Driver_Library_license.txt diff --git a/src/drivers/adafruiti2cpwm/module.mk b/src/drivers/pca9685/module.mk similarity index 90% rename from src/drivers/adafruiti2cpwm/module.mk rename to src/drivers/pca9685/module.mk index 1f24591cfd..7a5c7996ec 100644 --- a/src/drivers/adafruiti2cpwm/module.mk +++ b/src/drivers/pca9685/module.mk @@ -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 diff --git a/src/drivers/adafruiti2cpwm/adafruiti2cpwm.cpp b/src/drivers/pca9685/pca9685.cpp similarity index 76% rename from src/drivers/adafruiti2cpwm/adafruiti2cpwm.cpp rename to src/drivers/pca9685/pca9685.cpp index 6d3359999c..c97d1e9abe 100644 --- a/src/drivers/adafruiti2cpwm/adafruiti2cpwm.cpp +++ b/src/drivers/pca9685/pca9685.cpp @@ -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(arg); + PCA9685 *i2cpwm = reinterpret_cast(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); }