I2C PWM expander added from different Project

2024-11-16 16:42:29 +01:00
parent deccb3186c
commit f6608075ff
7 changed files with 327 additions and 0 deletions
@@ -0,0 +1,8 @@
+idf_component_register(
+    SRC_DIRS "src"
+    INCLUDE_DIRS "include"
+    REQUIRES freeRtosApi 
+        esp_common 
+        esp_driver_gpio 
+        esp_driver_i2c 
+)
@@ -0,0 +1,50 @@
+/**
+ * @file i2cPort.hpp
+ * @author Gustice
+ * @brief C++ Wrapper for I2C-interface
+ *
+ * @copyright Copyright (c) 2024
+ */
+
+#pragma once
+
+#include "driver/gpio.h"
+#include "driver/i2c_master.h"
+#include "portBase.hpp"
+#include <vector>
+
+/**
+ * @brief I2C-Master Class
+ * @details More recent implementation of IDF-based I2C master
+ */
+class I2cMaster : public PortBase {
+  public:
+    class Slave {
+      public:
+        enum ClockRate {
+            _100k = 100000,
+            _400k = 400000,
+        };
+
+        Slave(I2cMaster &interface, uint8_t addr, ClockRate rate = _100k);
+        ~Slave();
+        bool writeTo(const std::vector<uint8_t> &data);
+        std::vector<uint8_t> readFrom(const std::vector<uint8_t> &address, unsigned size);
+
+      protected:
+        const uint8_t Addr;
+        I2cMaster &Interface;
+        i2c_master_dev_handle_t _devHandle;
+    };
+
+    I2cMaster(i2c_port_t port, gpio_num_t sda, gpio_num_t scl);
+    ~I2cMaster() = default;
+
+    bool probe(uint8_t addr);
+
+    const i2c_port_t Port;
+
+  private:
+    friend class Slave;
+    i2c_master_bus_handle_t _busHandle;
+};
@@ -0,0 +1,17 @@
+/**
+ * @file portBase.hpp
+ * @author Gustice
+ * @brief Base-class for all hardware ports
+ *
+ * @copyright Copyright (c) 2024
+ */
+#pragma once
+
+class PortBase {
+  public:
+    PortBase(/* args */) {};
+
+    // Forbid Copy and Move assignments
+    PortBase(const PortBase &other) = delete;
+    PortBase &operator=(const PortBase &other) = delete;
+};
@@ -0,0 +1,39 @@
+/**
+ * @file pwmExpanderPca9685.hpp
+ * @author Gustice
+ * @brief PWM-Expander PCA9685
+ * @details https://www.nxp.com/docs/en/data-sheet/PCA9685.pdf
+ *
+ * @copyright Copyright (c) 2024
+ */
+#pragma once
+
+#include "i2cPort.hpp"
+#include <array>
+#include <memory>
+#include <optional>
+
+/**
+ * @brief I2C-Connected LED-Driver with 16 ports
+ * @note This module can also be used to generate Servo-Motor signals
+ */
+class PmwExpanderPca9685 {
+  public:
+    static constexpr int PwmChannels = 16;
+    using GrayValues = std::array<uint16_t, PwmChannels>;
+    PmwExpanderPca9685(I2cMaster &port, bool inverted = false, uint8_t address = 0x40); // 0x40 default Address
+
+    void sendImage(GrayValues &grayValues);
+    void reset();
+    void setPwmFreq(float frequency, bool inverted);
+
+  private:
+    I2cMaster::Slave _port;
+    const uint8_t _address;
+    const size_t _count = 16;
+    // 16 LED-Channels with 4 bytes each + 4 byte overhead
+    std::vector<uint8_t> _data;
+
+    bool write(uint8_t reg, uint8_t data);
+    std::optional<uint8_t> read(uint8_t reg);
+};
@@ -0,0 +1,74 @@
+/**
+ * @file i2cPort.cpp
+ * @author Gustice
+ * @brief C++ Wrapper for I2C-interface
+ *
+ * @copyright Copyright (c) 2020
+ */
+
+#include "i2cPort.hpp"
+#include "esp_log.h"
+
+const int TxBufDisabled = 0; /*!< I2C master doesn't need buffer */
+const int RxBufDisabled = 0; /*!< I2C master doesn't need buffer */
+constexpr int I2C_TOOL_TIMEOUT_VALUE_MS = 50;
+
+#define ACK_CHECK_EN 0x1  /*!< I2C master will check ack from slave*/
+#define ACK_CHECK_DIS 0x0 /*!< I2C master will not check ack from slave */
+
+I2cMaster::I2cMaster(i2c_port_t port, gpio_num_t sda, gpio_num_t scl) : Port(port) {
+    i2c_master_bus_config_t i2c_bus_config{
+        .i2c_port = port,
+        .sda_io_num = sda,
+        .scl_io_num = scl,
+        .clk_source = I2C_CLK_SRC_DEFAULT,
+        .glitch_ignore_cnt = 7,
+    };
+    i2c_bus_config.flags.enable_internal_pullup = 1;
+    ESP_ERROR_CHECK(i2c_new_master_bus(&i2c_bus_config, &_busHandle));
+}
+
+bool I2cMaster::probe(uint8_t addr) {
+    esp_err_t ret = i2c_master_probe(_busHandle, addr, I2C_TOOL_TIMEOUT_VALUE_MS);
+    return ret == ESP_OK;
+}
+
+I2cMaster::Slave::Slave(I2cMaster &interface, uint8_t addr, ClockRate rate) : Addr(addr), Interface(interface) {
+    i2c_device_config_t i2c_dev_conf{
+        .device_address = addr,
+        .scl_speed_hz = rate,
+    };
+    ESP_ERROR_CHECK(i2c_master_bus_add_device(interface._busHandle, &i2c_dev_conf, &_devHandle));
+}
+
+I2cMaster::Slave::~Slave() {
+    i2c_master_bus_rm_device(_devHandle);
+}
+
+bool I2cMaster::Slave::writeTo(const std::vector<uint8_t> &data) {
+    esp_err_t ret = i2c_master_transmit(_devHandle, data.data(), data.size(), I2C_TOOL_TIMEOUT_VALUE_MS);
+    if (ret != ESP_OK) {
+        if (ret == ESP_ERR_TIMEOUT) {
+            ESP_LOGW("I2C", "Bus is busy");
+        }
+        return false;
+    }
+    return true;
+}
+std::vector<uint8_t> I2cMaster::Slave::readFrom(const std::vector<uint8_t> &address, unsigned size) {
+    if (size == 0) {
+        return {};
+    }
+    std::vector<uint8_t> buffer(size);
+    esp_err_t ret = i2c_master_transmit_receive(_devHandle, address.data(), address.size(), buffer.data(), buffer.size(), I2C_TOOL_TIMEOUT_VALUE_MS);
+
+    if (ret != ESP_OK) {
+        if (ret == ESP_ERR_TIMEOUT) {
+            ESP_LOGW("I2C", "Bus is busy");
+        }
+        return {};
+    }
+    return buffer;
+}
+
+constexpr int DisableBuffer = 0; /*!< I2C master doesn't need buffers */
@@ -0,0 +1,117 @@
+/**
+ * @file pwmExpanderPca9685.cpp
+ * @author Gustice
+ * @brief PWM-Expander PCA9685
+ *
+ * @copyright Copyright (c) 2024
+ */
+
+#include "pwmExpanderPca9685.hpp"
+#include "esp_log.h"
+#include <cmath>
+#include <unistd.h> // for usleepCommand
+
+enum Pca9685Codes {
+    PCA9685_MODE1 = 0x00,
+    PCA9685_MODE2 = 0x01,
+    Led0_ON_L = 0x06,
+    Led0_ON_H = 0x07,
+    Led0_OFF_L = 0x08,
+    Led0_OFF_H = 0x09,
+    // Led1_...Led15
+    AllLedON_L = 0xFA,
+    AllLedON_H = 0xFB,
+    AllLedOFF_L = 0xFC,
+    AllLedOFF_H = 0xFD,
+    PCA9685_PRESCALE = 0xFE,
+};
+
+enum Pca9685_Mode1Bits {
+    Mode1_Sleep = 0x10,
+    Mode1_AutoIncrement = 0x20,
+    Mode1_Restart = 0x80,
+};
+
+enum Pca9685_Mode2Bits {
+    Mode2_Invert = 0x10,
+    Mode2_OutDriver = 0x04,
+};
+
+constexpr int LedPortRegisterWidth = 2 * 2;
+constexpr int BitResolution = 12;
+constexpr int PwmMaxValue = 4096 - 1;
+
+PmwExpanderPca9685::PmwExpanderPca9685(I2cMaster &port, bool inverted, uint8_t address)
+    : _port(port, address, I2cMaster::Slave::_400k), _address(address & 0x7F) {
+    _data.resize(PwmChannels * LedPortRegisterWidth + 1);
+    reset();
+    setPwmFreq(400, inverted);
+}
+
+void PmwExpanderPca9685::reset(void) {
+    uint8_t mode = Mode1_Restart | Mode1_AutoIncrement;
+    write(PCA9685_MODE1, mode);
+    usleep(10000); // 10 ms
+}
+
+void PmwExpanderPca9685::setPwmFreq(float frequency, bool inverted) {
+    frequency *= 0.9f; // Correct for overshoot in the frequency setting (see issue #11).
+    float prescaleLevel = 25000000;
+    prescaleLevel /= PwmMaxValue;
+    prescaleLevel /= frequency;
+    prescaleLevel -= 1;
+
+    uint8_t prescale = (uint8_t)std::floor(prescaleLevel + 0.5f);
+    uint8_t oldMode = read(PCA9685_MODE1).value_or(0);
+    uint8_t newMode = (oldMode & 0x7F) | Mode1_Sleep; // sleep + Autoincrement
+    write(PCA9685_MODE1, newMode);                    // go to sleep
+    write(PCA9685_PRESCALE, prescale);                // set the prescaler
+    write(PCA9685_MODE1, oldMode);
+    if (inverted) {
+        write(PCA9685_MODE2, Mode2_OutDriver | Mode2_Invert);
+    } else {
+        write(PCA9685_MODE2, Mode2_OutDriver);
+    }
+
+    usleep(5000); // 5 ms
+    //  This sets the MODE1 register to turn on auto increment.
+    write(PCA9685_MODE1, oldMode | Mode1_Restart | Mode1_AutoIncrement);
+}
+
+void PmwExpanderPca9685::sendImage(GrayValues &grayValues) {
+    // Try to distribute load peaks over full duty cycle
+    // OUT1 ..###______###____###______###____###__..
+    // OUT2 ..__###______###____###______###____###..
+    // OUT3 ..____###______###______###____###_____..
+    // ...
+    int idx = 0;
+    int step = UINT16_MAX / 4 / PwmChannels; // max 90 deg phase shift
+    int curStep = step;
+    _data[idx++] = Led0_ON_L;
+    for (size_t i = 0; i < _count; i++) {
+        curStep = curStep + step;
+        uint16_t dur = (grayValues[i] + curStep) >> 4;
+        uint on = curStep >> 4;
+        // On-Cnt
+        _data[idx++] = (uint8_t)on;
+        _data[idx++] = (uint8_t)(on >> 8);
+        // Off-Cnt
+        _data[idx++] = (uint8_t)dur;
+        _data[idx++] = (uint8_t)(dur >> 8);
+    }
+    _port.writeTo(_data);
+}
+
+bool PmwExpanderPca9685::write(uint8_t reg, uint8_t word) {
+    std::vector<uint8_t> data{reg, word};
+    return _port.writeTo(data);
+}
+
+std::optional<uint8_t> PmwExpanderPca9685::read(uint8_t reg) {
+    auto value = _port.readFrom({reg}, 1);
+    if (value.size() == 0) {
+        return std::nullopt;
+    }
+
+    return {value.front()};
+}