mirror of
https://github.com/nymea/nymea-plugins.git
synced 2026-07-17 00:36:35 +02:00
PoC implementation for the PCA9685
This commit is contained in:
Michael Zanetti
parent
7f6ceb4171
commit
b03be207f3
@ -3,10 +3,12 @@ include(../plugins.pri)
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HEADERS += \
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integrationplugini2cdevices.h \
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ads1115channel.h \
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pca9685.h \
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pi16adcchannel.h
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SOURCES += \
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integrationplugini2cdevices.cpp \
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ads1115channel.cpp \
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pca9685.cpp \
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pi16adcchannel.cpp
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@ -33,6 +33,7 @@
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#include "pi16adcchannel.h"
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#include "ads1115channel.h"
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#include "pca9685.h"
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#include <hardware/i2c/i2cmanager.h>
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@ -122,6 +123,17 @@ void IntegrationPluginI2CDevices::discoverThings(ThingDiscoveryInfo *info)
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info->finish(Thing::ThingErrorNoError);
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}
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void IntegrationPluginI2CDevices::executeAction(ThingActionInfo *info)
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{
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if (info->thing()->thingClassId() == pca9685ThingClassId) {
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I2CDevice *pca = m_i2cDevices.key(info->thing());
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if (info->action().actionTypeId() == pca9685FrequencyActionTypeId) {
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QByteArray command = "FREQ:" + info->action().paramValue(pca9685FrequencyActionFrequencyParamTypeId).toByteArray();
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hardwareManager()->i2cManager()->writeData(pca, command);
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}
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}
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}
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void IntegrationPluginI2CDevices::setupThing(ThingSetupInfo *info)
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{
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if (info->thing()->thingClassId() == pi16ADCThingClassId) {
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@ -200,6 +212,16 @@ void IntegrationPluginI2CDevices::setupThing(ThingSetupInfo *info)
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}
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info->finish(Thing::ThingErrorNoError);
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}
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if (info->thing()->thingClassId() == pca9685ThingClassId) {
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QString i2cPortName = info->thing()->paramValue(ads1115ThingI2cPortParamTypeId).toString();
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int i2cAddress = info->thing()->paramValue(ads1115ThingI2cAddressParamTypeId).toInt();
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Pca9685 *pca = new Pca9685(i2cPortName, i2cAddress, this);
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hardwareManager()->i2cManager()->writeData(pca, "init");
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m_i2cDevices.insert(pca, info->thing());
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info->finish(Thing::ThingErrorNoError);
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return;
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}
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}
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void IntegrationPluginI2CDevices::thingRemoved(Thing *thing)
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@ -47,6 +47,8 @@ public:
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void init() override;
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void discoverThings(ThingDiscoveryInfo *info) override;
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void executeAction(ThingActionInfo *info) override;
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void setupThing(ThingSetupInfo *info) override;
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void thingRemoved(Thing *thing) override;
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@ -451,6 +451,57 @@
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]
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}
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]
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},
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{
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"id": "a17363f3-4e2a-4bfa-a937-bd7ef894b9d8",
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"name": "pca9685",
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"displayName": "PCA9685",
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"thingClasses": [
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{
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"id": "ef5e814e-9078-4e46-8528-685f72239278",
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"name": "pca9685",
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"displayName": "PCA9685",
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"createMethods": ["user"],
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"paramTypes": [
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{
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"id": "9a8341a4-4d18-4832-a22b-9026136a6be5",
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"name": "i2cPort",
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"displayName": "I2C port",
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"type": "QString"
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},
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{
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"id": "7e26abbb-b5c9-4761-85f1-f86eb7a86312",
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"name": "i2cAddress",
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"displayName": "I2C address",
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"type": "int"
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}
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],
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"stateTypes": [
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{
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"id": "8ae3dada-efcc-446f-bb37-8554c32324dc",
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"name": "power",
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"displayName": "Power",
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"displayNameEvent": "Power changed",
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"displayNameAction": "Set power",
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"type": "bool",
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"defaultValue": false,
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"writable": true
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},
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{
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"id": "a4a2de25-c0a9-43f3-8b86-d9f9cfd64b8d",
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"name": "frequency",
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"displayName": "Frequency",
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"displayNameEvent": "Frequency changed",
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"displayNameAction": "Set frequency",
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"type": "uint",
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"minValue": 1,
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"maxValue": 1000,
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"writable": true,
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"defaultValue": 1
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}
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]
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}
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]
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}
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]
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}
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92
i2cdevices/pca9685.cpp
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92
i2cdevices/pca9685.cpp
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@ -0,0 +1,92 @@
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#include "pca9685.h"
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#include <unistd.h>
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#include "extern-plugininfo.h"
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#include <QThread>
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#include <qmath.h>
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Pca9685::Pca9685(const QString &portName, int address, QObject *parent) : I2CDevice(portName, address, parent)
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{
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}
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bool Pca9685::writeData(int fd, const QByteArray &command)
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{
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if (command == "init") {
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writeByte8(fd, MODE2, OUTDRV);
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writeByte8(fd, MODE1, ALLCALL);
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QThread::msleep(5);
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quint8 mode1 = readByte8(fd, MODE1);
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mode1 = mode1 & ~SLEEP;
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writeByte8(fd, MODE1, mode1);
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QThread::msleep(5);
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qCInfo(dcI2cDevices())<<"PCA9685 Initialization: SUCCESS";
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return true;
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}
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if (command.startsWith("PWM")) {
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QList<QByteArray> parts = command.split(':');
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quint8 channel = parts.at(1).toUInt();
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quint16 on = parts.at(2).toUInt();
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quint16 off = parts.at(3).toUInt();
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writeByte8(fd, LED0_ON_L+4*channel, on & 0xFF);
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writeByte8(fd, LED0_ON_H+4*channel, on >> 8);
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writeByte8(fd, LED0_OFF_L+4*channel, off & 0xFF);
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writeByte8(fd, LED0_OFF_H+4*channel, off >> 8);
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return true;
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}
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if (command.startsWith("FREQ")) {
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QList<QByteArray> parts = command.split(':');
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quint16 frequency = parts.at(1).toUInt();
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float prescaleval = 25000000.0; //25MHz
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prescaleval /= 4096.0; //12-bit
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prescaleval /= float(frequency);
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prescaleval -= 1.0;
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qInfo()<<"Setting PWM frequency to "<<frequency<<" hz";
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qInfo()<<"Estimated pre-scale: "<<prescaleval;
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int prescale = (int)qFloor(prescaleval + 0.5);
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qInfo()<<"Final pre-scale: "<<prescale;
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uint8_t oldmode = readByte8(fd, MODE1);
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uint8_t newmode = (oldmode & 0x7F) | 0x10; // sleep
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writeByte8(fd, MODE1, newmode); //go to sleep
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writeByte8(fd, PRESCALE, prescale);
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writeByte8(fd, MODE1, oldmode);
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//time.sleep(0.005) # wait
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QThread::msleep(5);
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writeByte8(fd, MODE1, oldmode | 0x80);
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return true;
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}
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return false;
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}
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bool Pca9685::writeByte8(int fd, uint8_t registerAddress, uint8_t data)
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{
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uint8_t buffer[2] = {0};
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buffer[0] = registerAddress & 0x00FF;
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buffer[1] = data;
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if (write(fd, buffer, 2) != 2){
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qCDebug(dcI2cDevices())<<"I2C Transaction failed!";
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return false;
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}
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return true;
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}
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uint8_t Pca9685::readByte8(int fd, uint8_t registerAddress)
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{
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uint8_t buffer[1] = {0};
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buffer[0] = registerAddress & 0x00FF;
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write(fd, buffer, 1);
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uint8_t result_buffer[1] = {0};
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if (read(fd, result_buffer, 1) != 1){
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qDebug()<<"I2C Transaction failed!";
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return 0;
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}
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return result_buffer[0];
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}
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57
i2cdevices/pca9685.h
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57
i2cdevices/pca9685.h
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@ -0,0 +1,57 @@
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#ifndef PCA9685_H
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#define PCA9685_H
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#include <QObject>
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#include <hardware/i2c/i2cdevice.h>
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#define MODE1 0x00
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#define MODE2 0x01
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#define SUBADR1 0x02
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#define SUBADR2 0x03
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#define SUBADR3 0x04
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#define PRESCALE 0xFE
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#define LED0_ON_L 0x06
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#define LED0_ON_H 0x07
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#define LED0_OFF_L 0x08
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#define LED0_OFF_H 0x09
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#define ALL_LED_ON_L 0xFA
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#define ALL_LED_ON_H 0xFB
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#define ALL_LED_OFF_L 0xFC
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#define ALL_LED_OFF_H 0xFD
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// Bits
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#define RESTART 0x80
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#define SLEEP 0x10
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#define ALLCALL 0x01
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#define INVRT 0x10
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#define OUTDRV 0x04
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#define PAN 0
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#define TILT 1
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#define FREQUENCY 50
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#define CLOCKFREQ 25000000
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#define PANOFFSET 1
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#define PANSCALE 1.4
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#define TILTOFFSET 30
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#define TILTSCALE 1.43
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#define PANMAX 270
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#define PANMIN 90
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#define TILTMAX 90
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#define TILTMIN -45
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class Pca9685 : public I2CDevice
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{
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Q_OBJECT
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public:
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explicit Pca9685(const QString &portName, int address, QObject *parent = nullptr);
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bool writeData(int fd, const QByteArray &data) override;
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private:
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bool writeByte8(int fd, uint8_t registerAddress, uint8_t data);
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uint8_t readByte8(int fd, uint8_t registerAddress);
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};
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#endif // PCA9685_H
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