PoC implementation for the PCA9685

i2cdevices/i2cdevices.pro

@@ -3,10 +3,12 @@ include(../plugins.pri)
 HEADERS += \
     integrationplugini2cdevices.h \
     ads1115channel.h \
+    pca9685.h \
     pi16adcchannel.h
 
 
 SOURCES += \
     integrationplugini2cdevices.cpp \
     ads1115channel.cpp \
+    pca9685.cpp \
     pi16adcchannel.cpp

i2cdevices/integrationplugini2cdevices.cpp

@@ -33,6 +33,7 @@
 
 #include "pi16adcchannel.h"
 #include "ads1115channel.h"
+#include "pca9685.h"
 
 #include <hardware/i2c/i2cmanager.h>
 
@@ -122,6 +123,17 @@ void IntegrationPluginI2CDevices::discoverThings(ThingDiscoveryInfo *info)
     info->finish(Thing::ThingErrorNoError);
 }
 
+void IntegrationPluginI2CDevices::executeAction(ThingActionInfo *info)
+{
+    if (info->thing()->thingClassId() == pca9685ThingClassId) {
+        I2CDevice *pca = m_i2cDevices.key(info->thing());
+        if (info->action().actionTypeId() == pca9685FrequencyActionTypeId) {
+            QByteArray command = "FREQ:" + info->action().paramValue(pca9685FrequencyActionFrequencyParamTypeId).toByteArray();
+            hardwareManager()->i2cManager()->writeData(pca, command);
+        }
+    }
+}
+
 void IntegrationPluginI2CDevices::setupThing(ThingSetupInfo *info)
 {
     if (info->thing()->thingClassId() == pi16ADCThingClassId) {
@@ -200,6 +212,16 @@ void IntegrationPluginI2CDevices::setupThing(ThingSetupInfo *info)
         }
         info->finish(Thing::ThingErrorNoError);
     }
+
+    if (info->thing()->thingClassId() == pca9685ThingClassId) {
+        QString i2cPortName = info->thing()->paramValue(ads1115ThingI2cPortParamTypeId).toString();
+        int i2cAddress = info->thing()->paramValue(ads1115ThingI2cAddressParamTypeId).toInt();
+        Pca9685 *pca = new Pca9685(i2cPortName, i2cAddress, this);
+        hardwareManager()->i2cManager()->writeData(pca, "init");
+        m_i2cDevices.insert(pca, info->thing());
+        info->finish(Thing::ThingErrorNoError);
+        return;
+    }
 }
 
 void IntegrationPluginI2CDevices::thingRemoved(Thing *thing)

i2cdevices/integrationplugini2cdevices.h

@@ -47,6 +47,8 @@ public:
     void init() override;
     void discoverThings(ThingDiscoveryInfo *info) override;
 
+    void executeAction(ThingActionInfo *info) override;
+
     void setupThing(ThingSetupInfo *info) override;
     void thingRemoved(Thing *thing) override;
 

i2cdevices/integrationplugini2cdevices.json

@@ -451,6 +451,57 @@
                     ]
                 }
             ]
+        },
+        {
+            "id": "a17363f3-4e2a-4bfa-a937-bd7ef894b9d8",
+            "name": "pca9685",
+            "displayName": "PCA9685",
+            "thingClasses": [
+                {
+                    "id": "ef5e814e-9078-4e46-8528-685f72239278",
+                    "name": "pca9685",
+                    "displayName": "PCA9685",
+                    "createMethods": ["user"],
+                    "paramTypes": [
+                        {
+                            "id": "9a8341a4-4d18-4832-a22b-9026136a6be5",
+                            "name": "i2cPort",
+                            "displayName": "I2C port",
+                            "type": "QString"
+                        },
+                        {
+                            "id": "7e26abbb-b5c9-4761-85f1-f86eb7a86312",
+                            "name": "i2cAddress",
+                            "displayName": "I2C address",
+                            "type": "int"
+                        }
+                    ],
+                    "stateTypes": [
+                        {
+                            "id": "8ae3dada-efcc-446f-bb37-8554c32324dc",
+                            "name": "power",
+                            "displayName": "Power",
+                            "displayNameEvent": "Power changed",
+                            "displayNameAction": "Set power",
+                            "type": "bool",
+                            "defaultValue": false,
+                            "writable": true
+                        },
+                        {
+                            "id": "a4a2de25-c0a9-43f3-8b86-d9f9cfd64b8d",
+                            "name": "frequency",
+                            "displayName": "Frequency",
+                            "displayNameEvent": "Frequency changed",
+                            "displayNameAction": "Set frequency",
+                            "type": "uint",
+                            "minValue": 1,
+                            "maxValue": 1000,
+                            "writable": true,
+                            "defaultValue": 1
+                        }
+                    ]
+                }
+            ]
         }
     ]
 }

i2cdevices/pca9685.cpp

@@ -0,0 +1,92 @@
+#include "pca9685.h"
+
+#include <unistd.h>
+
+#include "extern-plugininfo.h"
+
+#include <QThread>
+#include <qmath.h>
+
+Pca9685::Pca9685(const QString &portName, int address, QObject *parent) : I2CDevice(portName, address, parent)
+{
+
+}
+
+bool Pca9685::writeData(int fd, const QByteArray &command)
+{
+    if (command == "init") {
+        writeByte8(fd, MODE2, OUTDRV);
+        writeByte8(fd, MODE1, ALLCALL);
+        QThread::msleep(5);
+        quint8 mode1 = readByte8(fd, MODE1);
+        mode1 = mode1 & ~SLEEP;
+        writeByte8(fd, MODE1, mode1);
+        QThread::msleep(5);
+        qCInfo(dcI2cDevices())<<"PCA9685 Initialization: SUCCESS";
+        return true;
+    }
+
+    if (command.startsWith("PWM")) {
+        QList<QByteArray> parts = command.split(':');
+        quint8 channel = parts.at(1).toUInt();
+        quint16 on = parts.at(2).toUInt();
+        quint16 off = parts.at(3).toUInt();
+        writeByte8(fd, LED0_ON_L+4*channel, on & 0xFF);
+        writeByte8(fd, LED0_ON_H+4*channel, on >> 8);
+        writeByte8(fd, LED0_OFF_L+4*channel, off & 0xFF);
+        writeByte8(fd, LED0_OFF_H+4*channel, off >> 8);
+        return true;
+    }
+
+    if (command.startsWith("FREQ")) {
+        QList<QByteArray> parts = command.split(':');
+        quint16 frequency = parts.at(1).toUInt();
+        float prescaleval = 25000000.0; //25MHz
+        prescaleval /= 4096.0;         //12-bit
+        prescaleval /= float(frequency);
+        prescaleval -= 1.0;
+        qInfo()<<"Setting PWM frequency to "<<frequency<<" hz";
+        qInfo()<<"Estimated pre-scale: "<<prescaleval;
+        int prescale = (int)qFloor(prescaleval + 0.5);
+        qInfo()<<"Final pre-scale: "<<prescale;
+        uint8_t oldmode = readByte8(fd, MODE1);
+        uint8_t newmode = (oldmode & 0x7F) | 0x10; // sleep
+        writeByte8(fd, MODE1, newmode);      //go to sleep
+        writeByte8(fd, PRESCALE, prescale);
+        writeByte8(fd, MODE1, oldmode);
+        //time.sleep(0.005)  # wait
+        QThread::msleep(5);
+        writeByte8(fd, MODE1, oldmode | 0x80);
+        return true;
+    }
+
+    return false;
+}
+
+bool Pca9685::writeByte8(int fd, uint8_t registerAddress, uint8_t data)
+{
+    uint8_t buffer[2] = {0};
+    buffer[0] = registerAddress & 0x00FF;
+    buffer[1] = data;
+
+    if (write(fd, buffer, 2) != 2){
+        qCDebug(dcI2cDevices())<<"I2C Transaction failed!";
+        return false;
+    }
+    return true;
+}
+
+uint8_t Pca9685::readByte8(int fd, uint8_t registerAddress)
+{
+    uint8_t buffer[1] = {0};
+    buffer[0] = registerAddress & 0x00FF;
+    write(fd, buffer, 1);
+
+    uint8_t result_buffer[1] = {0};
+    if (read(fd, result_buffer, 1) != 1){
+        qDebug()<<"I2C Transaction failed!";
+        return 0;
+    }
+
+    return result_buffer[0];
+}

i2cdevices/pca9685.h

@@ -0,0 +1,57 @@
+#ifndef PCA9685_H
+#define PCA9685_H
+
+#include <QObject>
+
+#include <hardware/i2c/i2cdevice.h>
+
+#define MODE1			0x00
+#define MODE2			0x01
+#define SUBADR1			0x02
+#define SUBADR2			0x03
+#define SUBADR3			0x04
+#define PRESCALE		0xFE
+#define LED0_ON_L		0x06
+#define LED0_ON_H		0x07
+#define LED0_OFF_L		0x08
+#define LED0_OFF_H		0x09
+#define ALL_LED_ON_L    0xFA
+#define ALL_LED_ON_H	0xFB
+#define ALL_LED_OFF_L	0xFC
+#define ALL_LED_OFF_H	0xFD
+// Bits
+#define RESTART			0x80
+#define SLEEP			0x10
+#define ALLCALL			0x01
+#define INVRT			0x10
+#define OUTDRV			0x04
+
+#define PAN			    0
+#define TILT			1
+#define FREQUENCY		50
+#define CLOCKFREQ		25000000
+#define PANOFFSET		1
+#define PANSCALE		1.4
+#define TILTOFFSET		30
+#define TILTSCALE		1.43
+#define PANMAX			270
+#define PANMIN			90
+#define TILTMAX			90
+#define TILTMIN			-45
+
+class Pca9685 : public I2CDevice
+{
+    Q_OBJECT
+public:
+    explicit Pca9685(const QString &portName, int address, QObject *parent = nullptr);
+
+
+    bool writeData(int fd, const QByteArray &data) override;
+
+private:
+    bool writeByte8(int fd, uint8_t registerAddress, uint8_t data);
+    uint8_t readByte8(int fd, uint8_t registerAddress);
+
+};
+
+#endif // PCA9685_H