mirror of
https://github.com/DCC-EX/CommandStation-EX.git
synced 2024-12-23 12:51:24 +01:00
Allow frequency of PWM to be set for PCA9685 drivers.
It's a parameter on the create() call, e.g. PCA9685::create(vpin, npins, address, frequency);
This commit is contained in:
Neil McKechnie
parent
3292c93192
commit
21c82b37b0
@ -326,6 +326,7 @@ private:
|
||||
// structures for setting up non-blocking writes to servo controller
|
||||
I2CRB requestBlock;
|
||||
uint8_t outputBuffer[5];
|
||||
uint8_t prescaler; // clock prescaler for setting PWM frequency
|
||||
};
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
@ -31,22 +31,21 @@ static const byte MODE1_AI=0x20; /**< Auto-Increment enabled */
|
||||
static const byte MODE1_RESTART=0x80; /**< Restart enabled */
|
||||
|
||||
static const float FREQUENCY_OSCILLATOR=25000000.0; /** Accurate enough for our purposes */
|
||||
static const uint8_t PRESCALE_50HZ = (uint8_t)(((FREQUENCY_OSCILLATOR / (50.0 * 4096.0)) + 0.5) - 1);
|
||||
static const uint32_t MAX_I2C_SPEED = 1000000L; // PCA9685 rated up to 1MHz I2C clock speed
|
||||
|
||||
// Predeclare helper function
|
||||
static void writeRegister(byte address, byte reg, byte value);
|
||||
|
||||
// Create device driver instance.
|
||||
void PCA9685::create(VPIN firstVpin, int nPins, I2CAddress i2cAddress) {
|
||||
if (checkNoOverlap(firstVpin, nPins,i2cAddress)) new PCA9685(firstVpin, nPins, i2cAddress);
|
||||
void PCA9685::create(VPIN firstVpin, int nPins, I2CAddress i2cAddress, uint16_t frequency) {
|
||||
if (checkNoOverlap(firstVpin, nPins,i2cAddress)) new PCA9685(firstVpin, nPins, i2cAddress, frequency);
|
||||
}
|
||||
|
||||
// Configure a port on the PCA9685.
|
||||
bool PCA9685::_configure(VPIN vpin, ConfigTypeEnum configType, int paramCount, int params[]) {
|
||||
if (configType != CONFIGURE_SERVO) return false;
|
||||
if (paramCount != 5) return false;
|
||||
#ifdef DIAG_IO
|
||||
#if DIAG_IO >= 3
|
||||
DIAG(F("PCA9685 Configure VPIN:%d Apos:%d Ipos:%d Profile:%d Duration:%d state:%d"),
|
||||
vpin, params[0], params[1], params[2], params[3], params[4]);
|
||||
#endif
|
||||
@ -73,10 +72,14 @@ bool PCA9685::_configure(VPIN vpin, ConfigTypeEnum configType, int paramCount, i
|
||||
}
|
||||
|
||||
// Constructor
|
||||
PCA9685::PCA9685(VPIN firstVpin, int nPins, I2CAddress i2cAddress) {
|
||||
PCA9685::PCA9685(VPIN firstVpin, int nPins, I2CAddress i2cAddress, uint16_t frequency) {
|
||||
_firstVpin = firstVpin;
|
||||
_nPins = (nPins > 16) ? 16 : nPins;
|
||||
_I2CAddress = i2cAddress;
|
||||
// Calculate prescaler value for PWM clock
|
||||
if (frequency > 1526) frequency = 1526;
|
||||
else if (frequency < 24) frequency = 24;
|
||||
prescaler = FREQUENCY_OSCILLATOR / 4096 / frequency;
|
||||
// To save RAM, space for servo configuration is not allocated unless a pin is used.
|
||||
// Initialise the pointers to NULL.
|
||||
for (int i=0; i<_nPins; i++)
|
||||
@ -98,7 +101,7 @@ void PCA9685::_begin() {
|
||||
// Initialise I/O module here.
|
||||
if (I2CManager.exists(_I2CAddress)) {
|
||||
writeRegister(_I2CAddress, PCA9685_MODE1, MODE1_SLEEP | MODE1_AI);
|
||||
writeRegister(_I2CAddress, PCA9685_PRESCALE, PRESCALE_50HZ); // 50Hz clock, 20ms pulse period.
|
||||
writeRegister(_I2CAddress, PCA9685_PRESCALE, prescaler);
|
||||
writeRegister(_I2CAddress, PCA9685_MODE1, MODE1_AI);
|
||||
writeRegister(_I2CAddress, PCA9685_MODE1, MODE1_RESTART | MODE1_AI);
|
||||
// In theory, we should wait 500us before sending any other commands to each device, to allow
|
||||
@ -114,7 +117,7 @@ void PCA9685::_begin() {
|
||||
// Device-specific write function, invoked from IODevice::write().
|
||||
// For this function, the configured profile is used.
|
||||
void PCA9685::_write(VPIN vpin, int value) {
|
||||
#ifdef DIAG_IO
|
||||
#if DIAG_IO >= 3
|
||||
DIAG(F("PCA9685 Write Vpin:%d Value:%d"), vpin, value);
|
||||
#endif
|
||||
int pin = vpin - _firstVpin;
|
||||
@ -141,7 +144,7 @@ void PCA9685::_write(VPIN vpin, int value) {
|
||||
// 4 (Bounce) Servo 'bounces' at extremes.
|
||||
//
|
||||
void PCA9685::_writeAnalogue(VPIN vpin, int value, uint8_t profile, uint16_t duration) {
|
||||
#ifdef DIAG_IO
|
||||
#if DIAG_IO >= 3
|
||||
DIAG(F("PCA9685 WriteAnalogue Vpin:%d Value:%d Profile:%d Duration:%d %S"),
|
||||
vpin, value, profile, duration, _deviceState == DEVSTATE_FAILED?F("DEVSTATE_FAILED"):F(""));
|
||||
#endif
|
||||
|
||||
@ -23,6 +23,22 @@
|
||||
* commands the device to set the PWM mark-to-period ratio accordingly.
|
||||
* The call to IODevice::writeAnalogue(vpin, value) specifies the
|
||||
* desired value in the range 0-4095 (0=0% and 4095=100%).
|
||||
*
|
||||
* This driver can be used for simple servo control by writing values between
|
||||
* about 102 and 450 (extremes of movement for 9g micro servos) or 150 to 250
|
||||
* for a more restricted range (corresponding to 1.5ms to 2.5ms pulse length).
|
||||
* A value of zero will switch off the servo. To create the device, use
|
||||
* the following syntax:
|
||||
*
|
||||
* PCA9685_basic::create(vpin, npins, i2caddress);
|
||||
*
|
||||
* For LED control, a value of 0 is fully off, and 4095 is fully on. It is
|
||||
* recommended, to reduce flicker of LEDs, that the frequency be configured
|
||||
* to a value higher than the default of 50Hz. To do this, create the device
|
||||
* as follows, for a frequency of 200Hz.:
|
||||
*
|
||||
* PCA9685_basic::create(vpin, npins, i2caddress, 200);
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef PCA9685_BASIC_H
|
||||
@ -39,34 +55,38 @@
|
||||
class PCA9685pwm : public IODevice {
|
||||
public:
|
||||
// Create device driver instance.
|
||||
static void create(VPIN firstVpin, int nPins, I2CAddress i2cAddress) {
|
||||
if (checkNoOverlap(firstVpin, nPins, i2cAddress)) new PCA9685pwm(firstVpin, nPins, i2cAddress);
|
||||
static void create(VPIN firstVpin, int nPins, I2CAddress i2cAddress, uint16_t frequency = 50) {
|
||||
if (checkNoOverlap(firstVpin, nPins, i2cAddress)) new PCA9685pwm(firstVpin, nPins, i2cAddress, frequency);
|
||||
}
|
||||
|
||||
private:
|
||||
|
||||
// structures for setting up non-blocking writes to servo controller
|
||||
// structures for setting up non-blocking writes to PWM controller
|
||||
I2CRB requestBlock;
|
||||
uint8_t outputBuffer[5];
|
||||
uint16_t prescaler;
|
||||
|
||||
// REGISTER ADDRESSES
|
||||
const uint8_t PCA9685_MODE1=0x00; // Mode Register
|
||||
const uint8_t PCA9685_FIRST_SERVO=0x06; /** low uint8_t first servo register ON*/
|
||||
const uint8_t PCA9685_FIRST_SERVO=0x06; /** low uint8_t first PWM register ON*/
|
||||
const uint8_t PCA9685_PRESCALE=0xFE; /** Prescale register for PWM output frequency */
|
||||
// MODE1 bits
|
||||
const uint8_t MODE1_SLEEP=0x10; /**< Low power mode. Oscillator off */
|
||||
const uint8_t MODE1_AI=0x20; /**< Auto-Increment enabled */
|
||||
const uint8_t MODE1_RESTART=0x80; /**< Restart enabled */
|
||||
|
||||
const float FREQUENCY_OSCILLATOR=25000000.0; /** Accurate enough for our purposes */
|
||||
const uint32_t FREQUENCY_OSCILLATOR=25000000; /** Accurate enough for our purposes */
|
||||
const uint8_t PRESCALE_50HZ = (uint8_t)(((FREQUENCY_OSCILLATOR / (50.0 * 4096.0)) + 0.5) - 1);
|
||||
const uint32_t MAX_I2C_SPEED = 1000000L; // PCA9685 rated up to 1MHz I2C clock speed
|
||||
|
||||
// Constructor
|
||||
PCA9685pwm(VPIN firstVpin, int nPins, I2CAddress i2cAddress) {
|
||||
PCA9685pwm(VPIN firstVpin, int nPins, I2CAddress i2cAddress, uint16_t frequency) {
|
||||
_firstVpin = firstVpin;
|
||||
_nPins = (nPins>16) ? 16 : nPins;
|
||||
_I2CAddress = i2cAddress;
|
||||
if (frequency > 1526) frequency = 1526;
|
||||
else if (frequency < 24) frequency = 24;
|
||||
prescaler = FREQUENCY_OSCILLATOR / 4096 / frequency;
|
||||
addDevice(this);
|
||||
|
||||
// Initialise structure used for setting pulse rate
|
||||
@ -82,8 +102,8 @@ private:
|
||||
|
||||
// Initialise I/O module here.
|
||||
if (I2CManager.exists(_I2CAddress)) {
|
||||
writeRegister(_I2CAddress, PCA9685_MODE1, MODE1_SLEEP | MODE1_AI);
|
||||
writeRegister(_I2CAddress, PCA9685_PRESCALE, PRESCALE_50HZ); // 50Hz clock, 20ms pulse period.
|
||||
writeRegister(_I2CAddress, PCA9685_MODE1, MODE1_SLEEP | MODE1_AI);
|
||||
writeRegister(_I2CAddress, PCA9685_PRESCALE, prescaler);
|
||||
writeRegister(_I2CAddress, PCA9685_MODE1, MODE1_AI);
|
||||
writeRegister(_I2CAddress, PCA9685_MODE1, MODE1_RESTART | MODE1_AI);
|
||||
// In theory, we should wait 500us before sending any other commands to each device, to allow
|
||||
@ -100,7 +120,7 @@ private:
|
||||
//
|
||||
void _writeAnalogue(VPIN vpin, int value, uint8_t param1, uint16_t param2) override {
|
||||
(void)param1; (void)param2; // suppress compiler warning
|
||||
#ifdef DIAG_IO
|
||||
#if DIAG_IO >= 3
|
||||
DIAG(F("PCA9685pwm WriteAnalogue Vpin:%d Value:%d %S"),
|
||||
vpin, value, _deviceState == DEVSTATE_FAILED?F("DEVSTATE_FAILED"):F(""));
|
||||
#endif
|
||||
@ -121,7 +141,7 @@ private:
|
||||
// writeDevice (helper function) takes a pin in range 0 to _nPins-1 within the device, and a value
|
||||
// between 0 and 4095 for the PWM mark-to-period ratio, with 4095 being 100%.
|
||||
void writeDevice(uint8_t pin, int value) {
|
||||
#ifdef DIAG_IO
|
||||
#if DIAG_IO >= 3
|
||||
DIAG(F("PCA9685pwm I2C:%s WriteDevice Pin:%d Value:%d"), _I2CAddress.toString(), pin, value);
|
||||
#endif
|
||||
// Wait for previous request to complete
|
||||
|
||||
Loading…
Reference in New Issue
Block a user