Line data    Source code

       1             : /*
       2             :   PCA9685LED I2C driver
       3             : */
       4             : /*
       5             :    This program is free software: you can redistribute it and/or modify
       6             :    it under the terms of the GNU General Public License as published by
       7             :    the Free Software Foundation, either version 3 of the License, or
       8             :    (at your option) any later version.
       9             : 
      10             :    This program is distributed in the hope that it will be useful,
      11             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
      12             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      13             :    GNU General Public License for more details.
      14             : 
      15             :    You should have received a copy of the GNU General Public License
      16             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      17             :  */
      18             : #include "PCA9685LED_I2C.h"
      19             : 
      20             : #if AP_NOTIFY_PCA9685_ENABLED
      21             : 
      22             : #include <AP_HAL/AP_HAL.h>
      23             : 
      24             : #define NAVIO_LED_BRIGHT 0x0    // full brightness
      25             : #define NAVIO_LED_MEDIUM 0x7F    // medium brightness
      26             : #define NAVIO_LED_DIM    0x4F    // dim brightness
      27             : #define NAVIO_LED_OFF    0xFF    // off
      28             : 
      29             : #define PCA9685_ADDRESS 0x40
      30             : #define PCA9685_MODE1 0x00
      31             : #define PCA9685_PWM 0x6
      32             : #define PCA9685_MODE_SLEEP          (1 << 4)
      33             : #define PCA9685_MODE_AUTO_INCREMENT (1 << 5)
      34             : 
      35             : extern const AP_HAL::HAL& hal;
      36             : 
      37           0 : PCA9685LED_I2C::PCA9685LED_I2C() : 
      38           0 :     RGBLed(NAVIO_LED_OFF, NAVIO_LED_BRIGHT, NAVIO_LED_MEDIUM, NAVIO_LED_DIM)
      39             : {
      40           0 : }
      41             : 
      42           0 : bool PCA9685LED_I2C::init()
      43             : {
      44           0 :     _dev = hal.i2c_mgr->get_device(1, PCA9685_ADDRESS);
      45             : 
      46           0 :     if (!_dev) {
      47           0 :         return false;
      48             :     }
      49             : 
      50           0 :     _dev->get_semaphore()->take_blocking();
      51             : 
      52           0 :     _dev->set_retries(5);
      53             : 
      54             :     // read the current mode1 configuration
      55           0 :     uint8_t mode1 = 0;
      56           0 :     if (!_dev->read_registers(PCA9685_MODE1, &mode1, sizeof(mode1))) {
      57           0 :         _dev->get_semaphore()->give();
      58           0 :         return false;
      59             :     }
      60             : 
      61             :     // bring the device out of sleep, and enable auto register increment
      62           0 :     uint8_t new_mode1 = (mode1 | PCA9685_MODE_AUTO_INCREMENT) & ~PCA9685_MODE_SLEEP;
      63           0 :     const uint8_t config[2] = {PCA9685_MODE1, new_mode1};
      64           0 :     if (!_dev->transfer(config, sizeof(config), nullptr, 0)) {
      65           0 :         _dev->get_semaphore()->give();
      66           0 :         return false;
      67             :     }
      68             : 
      69           0 :     _dev->set_retries(1);
      70             : 
      71           0 :     _dev->get_semaphore()->give();
      72             : 
      73           0 :     _dev->register_periodic_callback(20000, FUNCTOR_BIND_MEMBER(&PCA9685LED_I2C::_timer, void));
      74             : 
      75           0 :     return true;
      76             : }
      77             : 
      78             : // set_rgb - set color as a combination of red, green and blue values
      79           0 : bool PCA9685LED_I2C::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
      80             : {
      81           0 :     rgb.r = red;
      82           0 :     rgb.g = green;
      83           0 :     rgb.b = blue;
      84           0 :     _need_update = true;
      85           0 :     return true;
      86             : }
      87             : 
      88           0 : void PCA9685LED_I2C::_timer(void)
      89             : {
      90           0 :     if (!_need_update) {
      91           0 :         return;
      92             :     }
      93           0 :     _need_update = false;
      94             :     
      95           0 :     uint16_t red_adjusted = rgb.r * 0x10;
      96           0 :     uint16_t green_adjusted = rgb.g * 0x10;
      97           0 :     uint16_t blue_adjusted = rgb.b * 0x10;
      98             : 
      99           0 :     uint8_t blue_channel_lsb = blue_adjusted & 0xFF;
     100           0 :     uint8_t blue_channel_msb = blue_adjusted >> 8;
     101             : 
     102           0 :     uint8_t green_channel_lsb = green_adjusted & 0xFF;
     103           0 :     uint8_t green_channel_msb = green_adjusted >> 8;
     104             : 
     105           0 :     uint8_t red_channel_lsb = red_adjusted & 0xFF;
     106           0 :     uint8_t red_channel_msb = red_adjusted >> 8;
     107             : 
     108             : 
     109           0 :     uint8_t transaction[] = {PCA9685_PWM, 0x00, 0x00, blue_channel_lsb, blue_channel_msb,
     110             :                              0x00, 0x00, green_channel_lsb, green_channel_msb,
     111           0 :                              0x00, 0x00, red_channel_lsb, red_channel_msb};
     112             : 
     113           0 :     _dev->transfer(transaction, sizeof(transaction), nullptr, 0);
     114             : }
     115             : 
     116             : #endif // AP_NOTIFY_PCA9685_ENABLED