pca9685: Support default values
Allow the pwm pin to have a non-zero default value. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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db97f36631
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3c4d14bfa9
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@ -123,6 +123,7 @@ class pca9685_pwm:
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self._max_duration = 2.
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self._max_duration = 2.
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self._oid = None
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self._oid = None
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self._invert = pin_params['invert']
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self._invert = pin_params['invert']
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self._shutdown_value = float(self._invert)
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self._last_clock = 0
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self._last_clock = 0
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self._pwm_max = 0.
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self._pwm_max = 0.
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self._cmd_queue = self._mcu.alloc_command_queue()
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self._cmd_queue = self._mcu.alloc_command_queue()
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@ -141,6 +142,12 @@ class pca9685_pwm:
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if self._invert:
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if self._invert:
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value = 1. - value
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value = 1. - value
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self._static_value = max(0., min(1., value))
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self._static_value = max(0., min(1., value))
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def setup_shutdown_value(self, value):
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if self._invert:
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value = 1. - value
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self._shutdown_value = max(0., min(1., value))
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if self._shutdown_value:
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self._replicape.note_enable_on_shutdown()
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def build_config(self):
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def build_config(self):
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self._pwm_max = self._mcu.get_constant_float("PCA9685_MAX")
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self._pwm_max = self._mcu.get_constant_float("PCA9685_MAX")
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cycle_ticks = self._mcu.seconds_to_clock(self._cycle_time)
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cycle_ticks = self._mcu.seconds_to_clock(self._cycle_time)
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@ -154,10 +161,12 @@ class pca9685_pwm:
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return
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return
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self._oid = self._mcu.create_oid()
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self._oid = self._mcu.create_oid()
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self._mcu.add_config_cmd(
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self._mcu.add_config_cmd(
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"config_pca9685 oid=%d bus=%d addr=%d channel=%d"
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"config_pca9685 oid=%d bus=%d addr=%d channel=%d cycle_ticks=%d"
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" cycle_ticks=%d max_duration=%d" % (
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" value=%d default_value=%d max_duration=%d" % (
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self._oid, self._bus, self._address, self._channel,
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self._oid, self._bus, self._address, self._channel, cycle_ticks,
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cycle_ticks, self._mcu.seconds_to_clock(self._max_duration)))
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self._invert * self._pwm_max,
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self._shutdown_value * self._pwm_max,
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self._mcu.seconds_to_clock(self._max_duration)))
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self._set_cmd = self._mcu.lookup_command(
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self._set_cmd = self._mcu.lookup_command(
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"schedule_pca9685_out oid=%c clock=%u value=%hu")
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"schedule_pca9685_out oid=%c clock=%u value=%hu")
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def set_pwm(self, print_time, value):
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def set_pwm(self, print_time, value):
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@ -249,6 +258,8 @@ class Replicape:
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self.host_mcu.add_config_cmd("send_spi bus=%d dev=%d msg=%s" % (
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self.host_mcu.add_config_cmd("send_spi bus=%d dev=%d msg=%s" % (
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REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE,
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REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE,
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"".join(["%02x" % (x,) for x in shift_registers])))
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"".join(["%02x" % (x,) for x in shift_registers])))
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def note_enable_on_shutdown(self):
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self.mcu_enable.setup_shutdown_value(1)
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def note_enable(self, print_time, channel, is_enable):
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def note_enable(self, print_time, channel, is_enable):
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if is_enable:
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if is_enable:
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is_off = not self.enabled_channels
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is_off = not self.enabled_channels
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@ -118,15 +118,6 @@ open_i2c(uint8_t bus, uint8_t addr, uint32_t cycle_ticks)
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return fd;
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return fd;
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}
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}
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void
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pca9685_shutdown(void)
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{
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int i;
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for (i=0; i<devices_count; i++)
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pca9685_write(devices[i].fd, CHANNEL_ALL, 0);
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}
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DECL_SHUTDOWN(pca9685_shutdown);
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/****************************************************************
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/****************************************************************
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* Command interface
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* Command interface
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@ -136,7 +127,7 @@ struct i2cpwm_s {
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struct timer timer;
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struct timer timer;
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int fd;
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int fd;
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uint8_t channel;
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uint8_t channel;
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uint16_t value;
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uint16_t value, default_value;
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uint32_t max_duration;
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uint32_t max_duration;
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};
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};
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@ -153,7 +144,7 @@ pca9685_event(struct timer *timer)
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{
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{
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struct i2cpwm_s *p = container_of(timer, struct i2cpwm_s, timer);
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struct i2cpwm_s *p = container_of(timer, struct i2cpwm_s, timer);
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pca9685_write(p->fd, p->channel, p->value);
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pca9685_write(p->fd, p->channel, p->value);
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if (!p->value || !p->max_duration)
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if (p->value == p->default_value || !p->max_duration)
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return SF_DONE;
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return SF_DONE;
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p->timer.waketime += p->max_duration;
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p->timer.waketime += p->max_duration;
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p->timer.func = pca9685_end_event;
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p->timer.func = pca9685_end_event;
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@ -163,18 +154,22 @@ pca9685_event(struct timer *timer)
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void
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void
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command_config_pca9685(uint32_t *args)
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command_config_pca9685(uint32_t *args)
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{
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{
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struct i2cpwm_s *p = oid_alloc(args[0], command_config_pca9685
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uint8_t bus = args[1], addr = args[2], channel = args[3];
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, sizeof(*p));
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uint16_t value = args[5], default_value = args[6];
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uint8_t bus = args[1];
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if (channel > CHANNEL_MAX || value > VALUE_MAX || default_value > VALUE_MAX)
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uint8_t addr = args[2];
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shutdown("Invalid pca9685 channel or value");
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p->channel = args[3];
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int fd = open_i2c(bus, addr, args[4]);
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if (p->channel > CHANNEL_MAX)
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if (value)
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shutdown("Invalid pca9685 channel");
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pca9685_write(fd, channel, value);
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p->max_duration = args[5];
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struct i2cpwm_s *p = oid_alloc(args[0], command_config_pca9685, sizeof(*p));
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p->fd = open_i2c(bus, addr, args[4]);
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p->fd = fd;
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p->channel = channel;
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p->default_value = default_value;
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p->max_duration = args[7];
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}
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}
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DECL_COMMAND(command_config_pca9685, "config_pca9685 oid=%c bus=%c addr=%c"
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DECL_COMMAND(command_config_pca9685, "config_pca9685 oid=%c bus=%c addr=%c"
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" channel=%c cycle_ticks=%u max_duration=%u");
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" channel=%c cycle_ticks=%u value=%hu"
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" default_value=%hu max_duration=%u");
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void
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void
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command_schedule_pca9685_out(uint32_t *args)
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command_schedule_pca9685_out(uint32_t *args)
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@ -203,3 +198,18 @@ command_set_pca9685_out(uint32_t *args)
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}
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}
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DECL_COMMAND(command_set_pca9685_out, "set_pca9685_out bus=%c addr=%c"
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DECL_COMMAND(command_set_pca9685_out, "set_pca9685_out bus=%c addr=%c"
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" channel=%c cycle_ticks=%u value=%hu");
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" channel=%c cycle_ticks=%u value=%hu");
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void
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pca9685_shutdown(void)
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{
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int i;
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for (i=0; i<devices_count; i++)
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pca9685_write(devices[i].fd, CHANNEL_ALL, 0);
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uint8_t j;
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struct i2cpwm_s *p;
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foreach_oid(j, p, command_config_pca9685) {
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if (p->default_value)
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pca9685_write(p->fd, p->channel, p->default_value);
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}
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}
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DECL_SHUTDOWN(pca9685_shutdown);
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