forked from Archive/PX4-Autopilot
rename adafruiti2cpwm to pca9685
This commit is contained in:
parent
dd85c0407c
commit
c414417cf8
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@ -32,10 +32,11 @@
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############################################################################
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############################################################################
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#
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#
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# Driver for the adafruit I2C PWM converter,
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# Driver for the PCA9685 I2C PWM controller
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# which allow to control servos via I2C.
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# The chip is used on the adafruit I2C PWM converter,
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# which allows to control servos via I2C.
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# https://www.adafruit.com/product/815
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# https://www.adafruit.com/product/815
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MODULE_COMMAND = adafruiti2cpwm
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MODULE_COMMAND = pca9685
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SRCS = adafruiti2cpwm.cpp
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SRCS = pca9685.cpp
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@ -32,10 +32,10 @@
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****************************************************************************/
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****************************************************************************/
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/**
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/**
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* @file adafruiti2cpwm.cpp
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* @file pca9685.cpp
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*
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*
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* Driver for the adafruit I2C PWM converter based on the PCA9685
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* Driver for the PCA9685 I2C PWM module
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* https://www.adafruit.com/product/815
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* The chip is used on the Adafruit I2C/PWM converter https://www.adafruit.com/product/815
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*
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*
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* Parts of the code are adapted from the arduino library for the board
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* Parts of the code are adapted from the arduino library for the board
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* https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library
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* https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library
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@ -93,18 +93,18 @@
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#define ADDR 0x40 // I2C adress
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#define ADDR 0x40 // I2C adress
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#define ADAFRUITI2CPWM_DEVICE_PATH "/dev/adafruiti2cpwm"
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#define PCA9685_DEVICE_PATH "/dev/pca9685"
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#define ADAFRUITI2CPWM_BUS PX4_I2C_BUS_EXPANSION
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#define PCA9685_BUS PX4_I2C_BUS_EXPANSION
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#define ADAFRUITI2CPWM_PWMFREQ 60.0f
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#define PCA9685_PWMFREQ 60.0f
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#define ADAFRUITI2CPWM_NCHANS 16 // total amount of pwm outputs
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#define PCA9685_NCHANS 16 // total amount of pwm outputs
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#define ADAFRUITI2CPWM_SERVOMIN 150 // this is the 'minimum' pulse length count (out of 4096)
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#define PCA9685_SERVOMIN 150 // this is the 'minimum' pulse length count (out of 4096)
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#define ADAFRUITI2CPWM_SERVOMAX 600 // this is the 'maximum' pulse length count (out of 4096)_PWMFREQ 60.0f
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#define PCA9685_SERVOMAX 600 // this is the 'maximum' pulse length count (out of 4096)_PWMFREQ 60.0f
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#define ADAFRUITI2CPWM_HALFRANGE ((ADAFRUITI2CPWM_SERVOMAX - ADAFRUITI2CPWM_SERVOMIN)/2)
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#define PCA9685_HALFRANGE ((PCA9685_SERVOMAX - PCA9685_SERVOMIN)/2)
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#define ADAFRUITI2CPWM_CENTER (ADAFRUITI2CPWM_SERVOMIN + ADAFRUITI2CPWM_HALFRANGE)
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#define PCA9685_CENTER (PCA9685_SERVOMIN + PCA9685_HALFRANGE)
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#define ADAFRUITI2CPWM_MAXSERVODEG 45 //maximal defelction in degrees
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#define PCA9685_MAXSERVODEG 45 //maximal defelction in degrees
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#define ADAFRUITI2CPWM_SCALE (ADAFRUITI2CPWM_HALFRANGE / (M_DEG_TO_RAD_F * ADAFRUITI2CPWM_MAXSERVODEG))
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#define PCA9685_SCALE (PCA9685_HALFRANGE / (M_DEG_TO_RAD_F * PCA9685_MAXSERVODEG))
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/* oddly, ERROR is not defined for c++ */
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/* oddly, ERROR is not defined for c++ */
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#ifdef ERROR
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#ifdef ERROR
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@ -112,11 +112,11 @@
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#endif
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#endif
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static const int ERROR = -1;
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static const int ERROR = -1;
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class ADAFRUITI2CPWM : public device::I2C
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class PCA9685 : public device::I2C
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{
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{
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public:
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public:
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ADAFRUITI2CPWM(int bus=ADAFRUITI2CPWM_BUS, uint8_t address=ADDR);
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PCA9685(int bus=PCA9685_BUS, uint8_t address=ADDR);
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virtual ~ADAFRUITI2CPWM();
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virtual ~PCA9685();
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virtual int init();
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virtual int init();
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@ -179,15 +179,15 @@ private:
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/* for now, we only support one board */
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/* for now, we only support one board */
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namespace
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namespace
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{
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{
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ADAFRUITI2CPWM *g_adafruiti2cpwm;
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PCA9685 *g_pca9685;
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}
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}
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void adafruiti2cpwm_usage();
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void pca9685_usage();
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extern "C" __EXPORT int adafruiti2cpwm_main(int argc, char *argv[]);
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extern "C" __EXPORT int pca9685_main(int argc, char *argv[]);
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ADAFRUITI2CPWM::ADAFRUITI2CPWM(int bus, uint8_t address) :
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PCA9685::PCA9685(int bus, uint8_t address) :
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I2C("adafruiti2cpwm", ADAFRUITI2CPWM_DEVICE_PATH, bus, address, 100000),
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I2C("pca9685", PCA9685_DEVICE_PATH, bus, address, 100000),
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_mode(IOX_MODE_OFF),
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_mode(IOX_MODE_OFF),
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_running(false),
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_running(false),
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_i2cpwm_interval(SEC2TICK(1.0f/60.0f)),
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_i2cpwm_interval(SEC2TICK(1.0f/60.0f)),
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@ -202,12 +202,12 @@ ADAFRUITI2CPWM::ADAFRUITI2CPWM(int bus, uint8_t address) :
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memset(_current_values, 0, sizeof(_current_values));
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memset(_current_values, 0, sizeof(_current_values));
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}
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}
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ADAFRUITI2CPWM::~ADAFRUITI2CPWM()
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PCA9685::~PCA9685()
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{
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{
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}
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}
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int
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int
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ADAFRUITI2CPWM::init()
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PCA9685::init()
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{
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{
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int ret;
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int ret;
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ret = I2C::init();
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ret = I2C::init();
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@ -220,13 +220,13 @@ ADAFRUITI2CPWM::init()
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return ret;
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return ret;
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}
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}
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ret = setPWMFreq(ADAFRUITI2CPWM_PWMFREQ);
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ret = setPWMFreq(PCA9685_PWMFREQ);
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return ret;
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return ret;
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}
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}
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int
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int
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ADAFRUITI2CPWM::ioctl(struct file *filp, int cmd, unsigned long arg)
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PCA9685::ioctl(struct file *filp, int cmd, unsigned long arg)
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{
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{
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int ret = -EINVAL;
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int ret = -EINVAL;
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switch (cmd) {
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switch (cmd) {
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@ -256,7 +256,7 @@ ADAFRUITI2CPWM::ioctl(struct file *filp, int cmd, unsigned long arg)
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// if not active, kick it
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// if not active, kick it
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if (!_running) {
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if (!_running) {
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_running = true;
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_running = true;
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work_queue(LPWORK, &_work, (worker_t)&ADAFRUITI2CPWM::i2cpwm_trampoline, this, 1);
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work_queue(LPWORK, &_work, (worker_t)&PCA9685::i2cpwm_trampoline, this, 1);
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}
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}
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@ -272,7 +272,7 @@ ADAFRUITI2CPWM::ioctl(struct file *filp, int cmd, unsigned long arg)
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}
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}
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int
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int
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ADAFRUITI2CPWM::info()
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PCA9685::info()
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{
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{
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int ret = OK;
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int ret = OK;
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@ -286,9 +286,9 @@ ADAFRUITI2CPWM::info()
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}
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}
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void
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void
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ADAFRUITI2CPWM::i2cpwm_trampoline(void *arg)
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PCA9685::i2cpwm_trampoline(void *arg)
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{
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{
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ADAFRUITI2CPWM *i2cpwm = reinterpret_cast<ADAFRUITI2CPWM *>(arg);
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PCA9685 *i2cpwm = reinterpret_cast<PCA9685 *>(arg);
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i2cpwm->i2cpwm();
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i2cpwm->i2cpwm();
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}
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}
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@ -297,10 +297,10 @@ ADAFRUITI2CPWM::i2cpwm_trampoline(void *arg)
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* Main loop function
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* Main loop function
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*/
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*/
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void
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void
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ADAFRUITI2CPWM::i2cpwm()
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PCA9685::i2cpwm()
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{
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{
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if (_mode == IOX_MODE_TEST_OUT) {
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if (_mode == IOX_MODE_TEST_OUT) {
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setPin(0, ADAFRUITI2CPWM_CENTER);
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setPin(0, PCA9685_CENTER);
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_should_run = true;
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_should_run = true;
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} else if (_mode == IOX_MODE_OFF) {
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} else if (_mode == IOX_MODE_OFF) {
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_should_run = false;
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_should_run = false;
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@ -309,7 +309,7 @@ ADAFRUITI2CPWM::i2cpwm()
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/* Subscribe to actuator control 2 (payload group for gimbal) */
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/* Subscribe to actuator control 2 (payload group for gimbal) */
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_actuator_controls_sub = orb_subscribe(ORB_ID(actuator_controls_2));
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_actuator_controls_sub = orb_subscribe(ORB_ID(actuator_controls_2));
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/* set the uorb update interval lower than the driver pwm interval */
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/* set the uorb update interval lower than the driver pwm interval */
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orb_set_interval(_actuator_controls_sub, 1000.0f / ADAFRUITI2CPWM_PWMFREQ - 5);
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orb_set_interval(_actuator_controls_sub, 1000.0f / PCA9685_PWMFREQ - 5);
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_mode_on_initialized = true;
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_mode_on_initialized = true;
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}
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}
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if (updated) {
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if (updated) {
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orb_copy(ORB_ID(actuator_controls_2), _actuator_controls_sub, &_actuator_controls);
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orb_copy(ORB_ID(actuator_controls_2), _actuator_controls_sub, &_actuator_controls);
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for (int i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
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for (int i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
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uint16_t new_value = ADAFRUITI2CPWM_CENTER +
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uint16_t new_value = PCA9685_CENTER +
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(_actuator_controls.control[i] * ADAFRUITI2CPWM_SCALE);
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(_actuator_controls.control[i] * PCA9685_SCALE);
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debug("%d: current: %u, new %u, control %.2f", i, _current_values[i], new_value,
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debug("%d: current: %u, new %u, control %.2f", i, _current_values[i], new_value,
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(double)_actuator_controls.control[i]);
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(double)_actuator_controls.control[i]);
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if (new_value != _current_values[i] &&
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if (new_value != _current_values[i] &&
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isfinite(new_value) &&
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isfinite(new_value) &&
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new_value >= 0 &&
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new_value >= 0 &&
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new_value <= ADAFRUITI2CPWM_SERVOMAX) {
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new_value <= PCA9685_SERVOMAX) {
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/* This value was updated, send the command to adjust the PWM value */
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/* This value was updated, send the command to adjust the PWM value */
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setPin(i, new_value);
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setPin(i, new_value);
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_current_values[i] = new_value;
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_current_values[i] = new_value;
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@ -345,11 +345,11 @@ ADAFRUITI2CPWM::i2cpwm()
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// re-queue ourselves to run again later
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// re-queue ourselves to run again later
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_running = true;
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_running = true;
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work_queue(LPWORK, &_work, (worker_t)&ADAFRUITI2CPWM::i2cpwm_trampoline, this, _i2cpwm_interval);
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work_queue(LPWORK, &_work, (worker_t)&PCA9685::i2cpwm_trampoline, this, _i2cpwm_interval);
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}
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}
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int
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int
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ADAFRUITI2CPWM::setPWM(uint8_t num, uint16_t on, uint16_t off)
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PCA9685::setPWM(uint8_t num, uint16_t on, uint16_t off)
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{
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{
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int ret;
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int ret;
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/* convert to correct message */
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/* convert to correct message */
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@ -371,7 +371,7 @@ ADAFRUITI2CPWM::setPWM(uint8_t num, uint16_t on, uint16_t off)
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}
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}
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int
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int
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ADAFRUITI2CPWM::setPin(uint8_t num, uint16_t val, bool invert)
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PCA9685::setPin(uint8_t num, uint16_t val, bool invert)
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{
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{
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// Clamp value between 0 and 4095 inclusive.
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// Clamp value between 0 and 4095 inclusive.
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if (val > 4095) {
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if (val > 4095) {
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@ -403,7 +403,7 @@ ADAFRUITI2CPWM::setPin(uint8_t num, uint16_t val, bool invert)
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}
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}
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int
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int
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ADAFRUITI2CPWM::setPWMFreq(float freq)
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PCA9685::setPWMFreq(float freq)
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{
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{
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int ret = OK;
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int ret = OK;
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freq *= 0.9f; /* Correct for overshoot in the frequency setting (see issue
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freq *= 0.9f; /* Correct for overshoot in the frequency setting (see issue
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@ -445,7 +445,7 @@ ADAFRUITI2CPWM::setPWMFreq(float freq)
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/* Wrapper to read a byte from addr */
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/* Wrapper to read a byte from addr */
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int
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int
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ADAFRUITI2CPWM::read8(uint8_t addr, uint8_t &value)
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PCA9685::read8(uint8_t addr, uint8_t &value)
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{
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{
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int ret = OK;
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int ret = OK;
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@ -470,14 +470,14 @@ fail_read:
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return ret;
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return ret;
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}
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}
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int ADAFRUITI2CPWM::reset(void) {
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int PCA9685::reset(void) {
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warnx("resetting");
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warnx("resetting");
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return write8(PCA9685_MODE1, 0x0);
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return write8(PCA9685_MODE1, 0x0);
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}
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}
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/* Wrapper to wite a byte to addr */
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/* Wrapper to wite a byte to addr */
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int
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int
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ADAFRUITI2CPWM::write8(uint8_t addr, uint8_t value) {
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PCA9685::write8(uint8_t addr, uint8_t value) {
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int ret = OK;
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int ret = OK;
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_msg[0] = addr;
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_msg[0] = addr;
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_msg[1] = value;
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_msg[1] = value;
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@ -491,7 +491,7 @@ ADAFRUITI2CPWM::write8(uint8_t addr, uint8_t value) {
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}
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}
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void
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void
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adafruiti2cpwm_usage()
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pca9685_usage()
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{
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{
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warnx("missing command: try 'start', 'test', 'stop', 'info'");
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warnx("missing command: try 'start', 'test', 'stop', 'info'");
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warnx("options:");
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warnx("options:");
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@ -500,7 +500,7 @@ adafruiti2cpwm_usage()
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}
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}
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int
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int
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adafruiti2cpwm_main(int argc, char *argv[])
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pca9685_main(int argc, char *argv[])
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{
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{
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int i2cdevice = -1;
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int i2cdevice = -1;
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int i2caddr = ADDR; // 7bit
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int i2caddr = ADDR; // 7bit
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@ -519,13 +519,13 @@ adafruiti2cpwm_main(int argc, char *argv[])
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break;
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break;
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default:
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default:
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adafruiti2cpwm_usage();
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pca9685_usage();
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exit(0);
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exit(0);
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}
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}
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}
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}
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if (optind >= argc) {
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if (optind >= argc) {
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adafruiti2cpwm_usage();
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pca9685_usage();
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exit(1);
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exit(1);
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}
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}
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@ -535,41 +535,41 @@ adafruiti2cpwm_main(int argc, char *argv[])
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int ret;
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int ret;
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if (!strcmp(verb, "start")) {
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if (!strcmp(verb, "start")) {
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if (g_adafruiti2cpwm != nullptr) {
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if (g_pca9685 != nullptr) {
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errx(1, "already started");
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errx(1, "already started");
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}
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}
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if (i2cdevice == -1) {
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if (i2cdevice == -1) {
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// try the external bus first
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// try the external bus first
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i2cdevice = PX4_I2C_BUS_EXPANSION;
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i2cdevice = PX4_I2C_BUS_EXPANSION;
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g_adafruiti2cpwm = new ADAFRUITI2CPWM(PX4_I2C_BUS_EXPANSION, i2caddr);
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g_pca9685 = new PCA9685(PX4_I2C_BUS_EXPANSION, i2caddr);
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if (g_adafruiti2cpwm != nullptr && OK != g_adafruiti2cpwm->init()) {
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if (g_pca9685 != nullptr && OK != g_pca9685->init()) {
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delete g_adafruiti2cpwm;
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delete g_pca9685;
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g_adafruiti2cpwm = nullptr;
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g_pca9685 = nullptr;
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}
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}
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if (g_adafruiti2cpwm == nullptr) {
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if (g_pca9685 == nullptr) {
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errx(1, "init failed");
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errx(1, "init failed");
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}
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}
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}
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}
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if (g_adafruiti2cpwm == nullptr) {
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if (g_pca9685 == nullptr) {
|
||||||
g_adafruiti2cpwm = new ADAFRUITI2CPWM(i2cdevice, i2caddr);
|
g_pca9685 = new PCA9685(i2cdevice, i2caddr);
|
||||||
|
|
||||||
if (g_adafruiti2cpwm == nullptr) {
|
if (g_pca9685 == nullptr) {
|
||||||
errx(1, "new failed");
|
errx(1, "new failed");
|
||||||
}
|
}
|
||||||
|
|
||||||
if (OK != g_adafruiti2cpwm->init()) {
|
if (OK != g_pca9685->init()) {
|
||||||
delete g_adafruiti2cpwm;
|
delete g_pca9685;
|
||||||
g_adafruiti2cpwm = nullptr;
|
g_pca9685 = nullptr;
|
||||||
errx(1, "init failed");
|
errx(1, "init failed");
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
fd = open(ADAFRUITI2CPWM_DEVICE_PATH, 0);
|
fd = open(PCA9685_DEVICE_PATH, 0);
|
||||||
if (fd == -1) {
|
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);
|
ret = ioctl(fd, IOX_SET_MODE, (unsigned long)IOX_MODE_ON);
|
||||||
close(fd);
|
close(fd);
|
||||||
|
@ -579,27 +579,27 @@ adafruiti2cpwm_main(int argc, char *argv[])
|
||||||
}
|
}
|
||||||
|
|
||||||
// need the driver past this point
|
// need the driver past this point
|
||||||
if (g_adafruiti2cpwm == nullptr) {
|
if (g_pca9685 == nullptr) {
|
||||||
warnx("not started, run adafruiti2cpwm start");
|
warnx("not started, run pca9685 start");
|
||||||
exit(1);
|
exit(1);
|
||||||
}
|
}
|
||||||
|
|
||||||
if (!strcmp(verb, "info")) {
|
if (!strcmp(verb, "info")) {
|
||||||
g_adafruiti2cpwm->info();
|
g_pca9685->info();
|
||||||
exit(0);
|
exit(0);
|
||||||
}
|
}
|
||||||
|
|
||||||
if (!strcmp(verb, "reset")) {
|
if (!strcmp(verb, "reset")) {
|
||||||
g_adafruiti2cpwm->reset();
|
g_pca9685->reset();
|
||||||
exit(0);
|
exit(0);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
if (!strcmp(verb, "test")) {
|
if (!strcmp(verb, "test")) {
|
||||||
fd = open(ADAFRUITI2CPWM_DEVICE_PATH, 0);
|
fd = open(PCA9685_DEVICE_PATH, 0);
|
||||||
|
|
||||||
if (fd == -1) {
|
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);
|
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")) {
|
if (!strcmp(verb, "stop")) {
|
||||||
fd = open(ADAFRUITI2CPWM_DEVICE_PATH, 0);
|
fd = open(PCA9685_DEVICE_PATH, 0);
|
||||||
|
|
||||||
if (fd == -1) {
|
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);
|
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
|
// wait until we're not running any more
|
||||||
for (unsigned i = 0; i < 15; i++) {
|
for (unsigned i = 0; i < 15; i++) {
|
||||||
if (!g_adafruiti2cpwm->is_running()) {
|
if (!g_pca9685->is_running()) {
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -631,9 +631,9 @@ adafruiti2cpwm_main(int argc, char *argv[])
|
||||||
printf("\n");
|
printf("\n");
|
||||||
fflush(stdout);
|
fflush(stdout);
|
||||||
|
|
||||||
if (!g_adafruiti2cpwm->is_running()) {
|
if (!g_pca9685->is_running()) {
|
||||||
delete g_adafruiti2cpwm;
|
delete g_pca9685;
|
||||||
g_adafruiti2cpwm= nullptr;
|
g_pca9685= nullptr;
|
||||||
warnx("stopped, exiting");
|
warnx("stopped, exiting");
|
||||||
exit(0);
|
exit(0);
|
||||||
} else {
|
} else {
|
||||||
|
@ -642,6 +642,6 @@ adafruiti2cpwm_main(int argc, char *argv[])
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
adafruiti2cpwm_usage();
|
pca9685_usage();
|
||||||
exit(0);
|
exit(0);
|
||||||
}
|
}
|
Loading…
Reference in New Issue