Driver for PCA9685 + example
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UncleRus
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3
examples/pca9685_pwm/Makefile
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3
examples/pca9685_pwm/Makefile
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PROGRAM = pca9685_pwm
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EXTRA_COMPONENTS = extras/i2c extras/pca9685
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include ../../common.mk
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43
examples/pca9685_pwm/main.c
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examples/pca9685_pwm/main.c
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/*
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* Example of using PCA9685 PWM driver
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*
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* Part of esp-open-rtos
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* Copyright (C) 2016 Ruslan V. Uss <unclerus@gmail.com>
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* Public domain
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*/
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#include <esp/uart.h>
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#include <espressif/esp_common.h>
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#include <i2c/i2c.h>
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#include <pca9685/pca9685.h>
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#include <stdio.h>
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#define ADDR 0x40
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#define SCL_PIN 5
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#define SDA_PIN 4
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#define PWM_FREQ 500
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void user_init(void)
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{
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uart_set_baud(0, 115200);
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printf("SDK version:%s\n", sdk_system_get_sdk_version());
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i2c_init(SCL_PIN, SDA_PIN);
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pca9685_init(ADDR);
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pca9685_set_pwm_frequency(ADDR, 1000);
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printf("Freq 1000Hz, real %d\n", pca9685_get_pwm_frequency(ADDR));
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uint16_t val = 0;
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while (true)
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{
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printf("Set ch0 to %d, ch4 to %d\n", val, 4096 - val);
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pca9685_set_pwm_value(ADDR, 0, val);
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pca9685_set_pwm_value(ADDR, 4, 4096 - val);
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if (val++ == 4096)
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val = 0;
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}
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}
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9
extras/pca9685/component.mk
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extras/pca9685/component.mk
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# Component makefile for extras/pca9685
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# expected anyone using this driver includes it as 'pca9685/pca9685.h'
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INC_DIRS += $(pca9685_ROOT)..
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# args for passing into compile rule generation
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pca9685_SRC_DIR = $(pca9685_ROOT)
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$(eval $(call component_compile_rules,pca9685))
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217
extras/pca9685/pca9685.c
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extras/pca9685/pca9685.c
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/**
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* Driver for 16-channel, 12-bit PWM PCA9685
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*
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* Part of esp-open-rtos
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* Copyright (C) 2016 Ruslan V. Uss <unclerus@gmail.com>
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* BSD Licensed as described in the file LICENSE
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*/
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#include "pca9685.h"
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#include <i2c/i2c.h>
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#include <espressif/esp_common.h>
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#define REG_MODE1 0x00
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#define REG_MODE2 0x01
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#define REG_SUBADR1 0x02
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#define REG_SUBADR2 0x03
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#define REG_SUBADR3 0x04
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#define REG_ALLCALLADR 0x05
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#define REG_LEDX 0x06
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#define REG_ALL_LED 0xfa
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#define REG_PRE_SCALE 0xfe
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#define MODE1_RESTART (1 << 7)
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#define MODE1_EXTCLK (1 << 6)
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#define MODE1_AI (1 << 5)
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#define MODE1_SLEEP (1 << 4)
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#define MODE1_SUB_BIT 3
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#define MODE2_INVRT (1 << 4)
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#define MODE2_OUTDRV (1 << 2)
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#define LED_FULL_ON_OFF (1 << 4)
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#define REG_LED_N(x) (REG_LEDX + (x) * 4)
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#define OFFS_REG_LED_ON 1
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#define OFFS_REG_LED_OFF 3
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#define INTERNAL_FREQ 25000000
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#define MIN_PRESCALER 0x03
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#define MAX_PRESCALER 0xff
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#define MAX_CHANNEL 15
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#define MAX_SUBADDR 2
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#define WAKEUP_DELAY_US 500
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//#define PCA9685_DEBUG
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#ifdef PCA9685_DEBUG
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#include <stdio.h>
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#define debug(fmt, ...) printf("%s: " fmt "\n", "PCA9685", ## __VA_ARGS__)
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#else
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#define debug(fmt, ...)
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#endif
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inline static uint32_t round_div(uint32_t x, uint32_t y)
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{
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return (x + y / 2) / y;
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}
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inline static void write_reg(uint8_t addr, uint8_t reg, uint8_t val)
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{
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uint8_t data[2] = { reg, val };
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if (!i2c_slave_write(addr, data, 2))
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debug("Could not write 0x%02x to 0x%02x, addr = 0x%02x", reg, val, addr);
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}
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inline static uint8_t read_reg(uint8_t addr, uint8_t reg)
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{
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uint8_t res = 0;
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if (!i2c_slave_read(addr, reg, &res, 1))
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debug("Could not read from 0x%02x, addr = 0x%02x", reg, addr);
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return res;
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}
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inline static void update_reg(uint8_t addr, uint8_t reg, uint8_t mask, uint8_t val)
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{
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write_reg(addr, reg, (read_reg(addr, reg) & ~mask) | val);
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}
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void pca9685_init(uint8_t addr)
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{
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// Enable autoincrement
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update_reg(addr, REG_MODE1, MODE1_AI, MODE1_AI);
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}
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bool pca9685_set_subaddr(uint8_t addr, uint8_t num, uint8_t subaddr, bool enable)
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{
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if (num > MAX_SUBADDR)
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{
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debug("Invalid subaddress number: %d", num);
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return false;
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}
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write_reg(addr, REG_SUBADR1 + num, subaddr << 1);
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uint8_t mask = 1 << (MODE1_SUB_BIT - num);
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update_reg(addr, REG_MODE1, mask, enable ? mask : 0);
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return true;
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}
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bool pca9685_is_sleeping(uint8_t addr)
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{
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return (read_reg(addr, REG_MODE1) & MODE1_SLEEP) != 0;
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}
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void pca9685_sleep(uint8_t addr, bool sleep)
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{
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update_reg(addr, REG_MODE1, MODE1_SLEEP, sleep ? MODE1_SLEEP : 0);
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if (!sleep)
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sdk_os_delay_us(WAKEUP_DELAY_US);
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}
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void pca9685_restart(uint8_t addr)
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{
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uint8_t mode = read_reg(addr, REG_MODE1);
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if (mode & MODE1_RESTART)
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{
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write_reg(addr, REG_MODE1, mode & ~MODE1_SLEEP);
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sdk_os_delay_us(WAKEUP_DELAY_US);
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}
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write_reg(addr, REG_MODE1, (mode & ~MODE1_SLEEP) | MODE1_RESTART);
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}
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bool pca9685_is_output_inverted(uint8_t addr)
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{
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return (read_reg(addr, REG_MODE2) & MODE2_INVRT) != 0;
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}
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void pca9685_set_output_inverted(uint8_t addr, bool inverted)
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{
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update_reg(addr, REG_MODE2, MODE2_INVRT, inverted ? MODE2_INVRT : 0);
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}
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bool pca9685_get_output_open_drain(uint8_t addr)
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{
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return (read_reg(addr, REG_MODE2) & MODE2_OUTDRV) == 0;
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}
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void pca9685_set_output_open_drain(uint8_t addr, bool open_drain)
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{
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update_reg(addr, REG_MODE2, MODE2_OUTDRV, open_drain ? 0 : MODE2_OUTDRV);
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}
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uint8_t pca9685_get_prescaler(uint8_t addr)
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{
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return read_reg(addr, REG_PRE_SCALE);
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}
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bool pca9685_set_prescaler(uint8_t addr, uint8_t prescaler)
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{
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if (prescaler < MIN_PRESCALER)
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{
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debug("Inavlid prescaler value: %d", prescaler);
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return false;
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}
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pca9685_sleep(addr, true);
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write_reg(addr, REG_PRE_SCALE, prescaler);
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pca9685_sleep(addr, false);
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return true;
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}
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uint16_t pca9685_get_pwm_frequency(uint8_t addr)
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{
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return INTERNAL_FREQ / ((uint32_t)4096 * (read_reg(addr, REG_PRE_SCALE) + 1));
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}
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bool pca9685_set_pwm_frequency(uint8_t addr, uint16_t freq)
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{
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uint16_t prescaler = round_div(INTERNAL_FREQ, (uint32_t)4096 * freq) - 1;
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if (prescaler < MIN_PRESCALER || prescaler > MAX_PRESCALER)
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{
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debug("Inavlid prescaler value: %d", prescaler);
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return false;
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}
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return pca9685_set_prescaler(addr, prescaler);
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}
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void pca9685_set_pwm_value(uint8_t addr, uint8_t channel, uint16_t val)
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{
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uint8_t reg = channel > MAX_CHANNEL ? REG_ALL_LED : REG_LED_N(channel);
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if (val == 0)
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{
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// Full off
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write_reg(addr, reg + OFFS_REG_LED_OFF, LED_FULL_ON_OFF);
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}
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else if (val < 4096)
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{
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// Normal
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uint8_t buf[5] = { reg, 0, 0, val, val >> 8 };
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i2c_slave_write(addr, buf, 5);
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}
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else
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{
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// Full on
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write_reg(addr, reg + OFFS_REG_LED_ON, LED_FULL_ON_OFF);
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}
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}
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bool pca9685_set_pwm_values(uint8_t addr, uint8_t first_ch, uint8_t channels, const uint16_t *values)
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{
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if (channels == 0 || first_ch + channels - 1 > MAX_CHANNEL)
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{
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debug("Invalid channels");
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return false;
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}
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for (uint8_t i = 0; i < channels; i ++)
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pca9685_set_pwm_value(addr, first_ch + i, values [i]);
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return true;
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}
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137
extras/pca9685/pca9685.h
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137
extras/pca9685/pca9685.h
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/**
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* Driver for 16-channel, 12-bit PWM PCA9685
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*
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* Part of esp-open-rtos
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* Copyright (C) 2016 Ruslan V. Uss <unclerus@gmail.com>
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* BSD Licensed as described in the file LICENSE
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*/
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#ifndef _EXTRAS_PCA9685_H_
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#define _EXTRAS_PCA9685_H_
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#include <stdint.h>
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#include <stdbool.h>
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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#define PCA9685_ADDR_BASE 0x40
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/**
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* Init device
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* @param addr Device address
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*/
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void pca9685_init(uint8_t addr);
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/**
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* Setup device subaddress (see section 7.3.6 if the datasheet)
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* @param addr Device address
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* @param num Subaddress number, 0..2
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* @param subaddr Subaddress, 7 bit
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* @param enable True to enable subaddress, false to disable
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* @return False if error occured
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*/
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bool pca9685_set_subaddr(uint8_t addr, uint8_t num, uint8_t subaddr, bool enable);
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/**
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* Restart device (see section 7.3.1.1 of the datasheet)
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* @param addr Device address
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*/
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void pca9685_restart(uint8_t addr);
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/**
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* Check if device is in sleep mode
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* @param addr Device address
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* @return True if device is sleeping
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*/
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bool pca9685_is_sleeping(uint8_t addr);
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/**
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* Switch device to low-power mode or wake it up.
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* @param addr Device address
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* @param sleep True for sleep mode, false for wake up
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*/
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void pca9685_sleep(uint8_t addr, bool sleep);
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/**
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* Get logic inversion of the outputs
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* @param addr Device address
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* @return True if outputs are inverted, false otherwise
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*/
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bool pca9685_is_output_inverted(uint8_t addr);
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/**
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* Logically invert outputs (see section 7.7 of the datasheet)
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* @param addr Device address
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* @param inverted True for inverted outputs
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*/
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void pca9685_set_output_inverted(uint8_t addr, bool inverted);
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/**
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* Get outputs mode
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* @param addr Device address
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* @return True if outputs are in open drain mode
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*/
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bool pca9685_get_output_open_drain(uint8_t addr);
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/**
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* Set outputs mode
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* @param addr Device address
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* @param open_drain True to set open drain mode, false to normal mode
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*/
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void pca9685_set_output_open_drain(uint8_t addr, bool open_drain);
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/**
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* Get current PWM frequency prescaler.
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* @param addr Device address
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* @return Frequency prescaler
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*/
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uint8_t pca9685_get_prescaler(uint8_t addr);
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/**
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* Set PWM frequency prescaler.
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* @param addr Device address
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* @param prescaler Prescaler value
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* @return False if error occured
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*/
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bool pca9685_set_prescaler(uint8_t addr, uint8_t prescaler);
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/**
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* Get current PWM frequency
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* @param addr Device address
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* @return PWM frequency, Hz
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*/
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uint16_t pca9685_get_pwm_frequency(uint8_t addr);
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/**
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* Set PWM frequency
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* @param addr Device address
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* @param freq PWM frequency, Hz
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* @return False if error occured
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*/
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bool pca9685_set_pwm_frequency(uint8_t addr, uint16_t freq);
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/**
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* Set PWM value on output channel
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* @param addr Device address
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* @param channel Channel number, 0..15 or >15 for all channels
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* @param val PWM value, 0..4096
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*/
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void pca9685_set_pwm_value(uint8_t addr, uint8_t channel, uint16_t val);
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/**
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* Set PWM values on output channels
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* @param addr Device address
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* @param first_ch First channel, 0..15
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* @param channels Number of updating channels
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* @param values Array of the channel values, each 0..4096
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* @return False if error occured
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*/
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bool pca9685_set_pwm_values(uint8_t addr, uint8_t first_ch, uint8_t channels, const uint16_t *values);
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#ifdef __cplusplus
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}
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#endif
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#endif /* _EXTRAS_PCA9685_H_ */
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