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/*
* Copyright (c) 2017 Samsung Electronics Co., Ltd.
*
* Contact: Jeonghoon Park <jh1979.park@samsung.com>
*
* Licensed under the Flora License, Version 1.1 (the License);
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://floralicense.org/license/
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an AS IS BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include <stdio.h>
#include <unistd.h>
#include <math.h>
#include <peripheral_io.h>
#include "log.h"
#define RPI3_I2C_BUS 1
/* Registers/etc: */
#define PCA9685_ADDRESS 0x40
#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
typedef enum {
PCA9685_CH_STATE_NONE,
PCA9685_CH_STATE_USED,
} pca9685_ch_state_e;
static peripheral_i2c_h g_i2c_h = NULL;
static unsigned int ref_count = 0;
static pca9685_ch_state_e ch_state[PCA9685_CH_MAX] = {PCA9685_CH_STATE_NONE, };
int resource_pca9685_set_frequency(unsigned int freq_hz)
{
int ret = PERIPHERAL_ERROR_NONE;
double prescale_value = 0.0;
int prescale = 0;
uint8_t oldmode = 0;
uint8_t newmode = 0;
prescale_value = 25000000.0; // 25MHz
prescale_value /= 4096.0; // 12-bit
prescale_value /= (double)freq_hz;
prescale_value -= 1.0;
prescale = (int)floor(prescale_value + 0.5);
ret = peripheral_i2c_read_register_byte(g_i2c_h, MODE1, &oldmode);
retvm_if(ret != PERIPHERAL_ERROR_NONE, -1, "failed to read register");
newmode = (oldmode & 0x7F) | 0x10; // sleep
ret = peripheral_i2c_write_register_byte(g_i2c_h, MODE1, newmode); // go to sleep
retvm_if(ret != PERIPHERAL_ERROR_NONE, -1, "failed to write register");
ret = peripheral_i2c_write_register_byte(g_i2c_h, PRESCALE, prescale);
retvm_if(ret != PERIPHERAL_ERROR_NONE, -1, "failed to write register");
ret = peripheral_i2c_write_register_byte(g_i2c_h, MODE1, oldmode);
retvm_if(ret != PERIPHERAL_ERROR_NONE, -1, "failed to write register");
usleep(500);
ret = peripheral_i2c_write_register_byte(g_i2c_h, MODE1, (oldmode | 0x80));
retvm_if(ret != PERIPHERAL_ERROR_NONE, -1, "failed to write register");
return 0;
}
int resource_pca9685_set_value_to_channel(unsigned int channel, int on, int off)
{
int ret = PERIPHERAL_ERROR_NONE;
retvm_if(g_i2c_h == NULL, -1, "Not initialized yet");
retvm_if(ch_state[channel] == PCA9685_CH_STATE_NONE, -1,
"ch[%u] is not in used state", channel);
ret = peripheral_i2c_write_register_byte(g_i2c_h,
LED0_ON_L + 4*channel, on & 0xFF);
retvm_if(ret != PERIPHERAL_ERROR_NONE, -1, "failed to write register");
ret = peripheral_i2c_write_register_byte(g_i2c_h,
LED0_ON_H + 4*channel, on >> 8);
retvm_if(ret != PERIPHERAL_ERROR_NONE, -1, "failed to write register");
ret = peripheral_i2c_write_register_byte(g_i2c_h,
LED0_OFF_L + 4*channel, off & 0xFF);
retvm_if(ret != PERIPHERAL_ERROR_NONE, -1, "failed to write register");
ret = peripheral_i2c_write_register_byte(g_i2c_h,
LED0_OFF_H + 4*channel, off >> 8);
retvm_if(ret != PERIPHERAL_ERROR_NONE, -1, "failed to write register");
return 0;
}
static int resource_pca9685_set_value_to_all(int on, int off)
{
int ret = PERIPHERAL_ERROR_NONE;
retvm_if(g_i2c_h == NULL, -1, "Not initialized yet");
ret = peripheral_i2c_write_register_byte(g_i2c_h,
ALL_LED_ON_L, on & 0xFF);
retvm_if(ret != PERIPHERAL_ERROR_NONE, -1, "failed to write register");
ret = peripheral_i2c_write_register_byte(g_i2c_h,
ALL_LED_ON_H, on >> 8);
retvm_if(ret != PERIPHERAL_ERROR_NONE, -1, "failed to write register");
ret = peripheral_i2c_write_register_byte(g_i2c_h,
ALL_LED_OFF_L, off & 0xFF);
retvm_if(ret != PERIPHERAL_ERROR_NONE, -1, "failed to write register");
ret = peripheral_i2c_write_register_byte(g_i2c_h,
ALL_LED_OFF_H, off >> 8);
retvm_if(ret != PERIPHERAL_ERROR_NONE, -1, "failed to write register");
return 0;
}
int resource_pca9685_init(unsigned int ch)
{
uint8_t mode1 = 0;
int ret = PERIPHERAL_ERROR_NONE;
if (ch == 0 || ch >= PCA9685_CH_MAX) {
_E("channel[%u] is out of range", ch);
return -1;
}
if (ch_state[ch] == PCA9685_CH_STATE_USED) {
_E("channel[%u] is already in used state", ch);
return -1;
}
if (g_i2c_h)
goto PASS_OPEN_HANDLE;
ret = peripheral_i2c_open(RPI3_I2C_BUS, PCA9685_ADDRESS, &g_i2c_h);
if (ret != PERIPHERAL_ERROR_NONE) {
_E("failed to open pca9685-[bus:%d, addr:%d]",
RPI3_I2C_BUS, PCA9685_ADDRESS);
return -1;
}
ret = resource_pca9685_set_value_to_all(0, 0);
if (ret) {
_E("failed to reset all value to register");
goto ERROR;
}
ret = peripheral_i2c_write_register_byte(g_i2c_h, MODE2, OUTDRV);
if (ret != PERIPHERAL_ERROR_NONE) {
_E("failed to write register");
goto ERROR;
}
ret = peripheral_i2c_write_register_byte(g_i2c_h, MODE1, ALLCALL);
if (ret != PERIPHERAL_ERROR_NONE) {
_E("failed to write register");
goto ERROR;
}
usleep(500); // wait for oscillator
ret = peripheral_i2c_read_register_byte(g_i2c_h, MODE1, &mode1);
if (ret != PERIPHERAL_ERROR_NONE) {
_E("failed to read register");
goto ERROR;
}
mode1 = mode1 & (~SLEEP); // # wake up (reset sleep)
ret = peripheral_i2c_write_register_byte(g_i2c_h, MODE1, mode1);
if (ret != PERIPHERAL_ERROR_NONE) {
_E("failed to write register");
goto ERROR;
}
usleep(500); // wait for oscillator
ret = resource_pca9685_set_frequency(60);
if (ret) {
_E("failed to set frequency");
goto ERROR;
}
PASS_OPEN_HANDLE:
ref_count++;
ch_state[ch] = PCA9685_CH_STATE_USED;
_D("pca9685 - ref_count[%u]", ref_count);
_D("sets ch[%u] used state", ch);
return 0;
ERROR:
if (g_i2c_h)
peripheral_i2c_close(g_i2c_h);
g_i2c_h = NULL;
return -1;
}
int resource_pca9685_fini(unsigned int ch)
{
if (ch_state[ch] == PCA9685_CH_STATE_NONE) {
_E("channel[%u] is not in used state", ch);
return -1;
}
resource_pca9685_set_value_to_channel(ch, 0, 0);
ch_state[ch] = PCA9685_CH_STATE_NONE;
ref_count--;
_D("ref count - %u", ref_count);
if (ref_count == 0 && g_i2c_h) {
_D("finalizing pca9685");
resource_pca9685_set_value_to_all(0, 0);
peripheral_i2c_close(g_i2c_h);
g_i2c_h = NULL;
}
return 0;
}
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