/*
xdrv_15_pca9685_v2.ino - Support for I2C PCA9685 12bit 16 pin hardware PWM driver on Tasmota
Copyright (C) 2021 Andre Thomas and Theo Arends
2023 Fabrizio Amodio
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see .
*/
#ifdef USE_I2C
#ifdef USE_PCA9685_V2
/*********************************************************************************************\
* PCA9685 - 16-channel 12-bit pwm driver
*
* I2C Address: 0x40 .. 0x47
\*********************************************************************************************/
/*
2023-06-05 v2.0 Changelog by F.Amodio
- Code Refactoring
- Support for multiple PCA9685 without breaking support for previuos driver version
all command (PWM,INVERT,etc) now support the suffix from 0 to PCA9685_MAX_COUNT to address the board,
without the suffix the command is relative to the board 0, e.g.
DRIVER15 PWM 0 350 Board address 0 pin 0 value 350
DRIVER15 PWM0 2 300 Board address 0 pin 2 value 300
DRIVER15 PWM1 3 235 Board address 1 pin 3 value 235
DRIVER15 RESET2 Reset Board 2
- new command INTCLK to fine tuning the internal clock setting, unit: 0.1 MHz
this is a not permanent setting!
DRIVER15 INTCLK 270 Set to 27.0 MHz
DRIVER15 INTCLK 250 Set to 25.0 Mhz (default value, use USE_PCA9685_INT_CLOCK to change it at compile time)
- new command PWMTO to move all the required pin from the current pin position to a new one, all the move will be completed into the required time, so each motor will be stepped relative to timing
- new command PWMSTOP to stop all running movement
Updated Command List:
DRIVER15 STATUS // Will return a JSON string containing all the current settings / parameters for all board
DRIVER15 RESET[0-8] // Reset to power-up settings - i.e. F=50hz and all pins in OFF state for a specific board
DRIVER15 INVERT[0-8],pin[,0-1] // print or set the inversion bit on pin of the specific board
DRIVER15 INTCLK[0-8],clock // where clock is the Interal Clock value in 1/10 MHz (default USE_PCA9685_INT_CLOCK = 250)
DRIVER15 PMWF[0-8],frequency // where frequency is the PWM frequency from 24 to 1526 in Hz
DRIVER15 PWM[0-8],pin,pwmvalue // where pin=LED, pin 0 through 15 and pwmvalue is the pulse width between 0 and 4096
DRIVER15 PWM[0-8],pin,ON // Fully turn a specific board/pin/LED ON
DRIVER15 PWM[0-8],pin,OFF // Fully turn a specific board/pin/LED OFF
DRIVER15 PWMTO[0-8] tensecs,pin,value[,pin,value[,pin,value...]] // Move all the specified pin to a new location in the specified time (1/10 sec resolution), if "tensecs" is zero it's equivalent to PWM command for all the pins
e.g.
PWMTO 40 0 327 1 550 2 187 3 200
this move the PIN0 of the Board 0 from the current position to 327
the PIN1 of the Board 0 from the current position to 550
the PIN2 of the Board 0 from the current position to 187
the PIN3 of the Board 0 from the current position to 200
all the movements will be completed in 4 seconds, every PIN will be stepped relative to that @ 50ms step.
PWMTO1 40 0 327 1 550 2 187 3 200
same logic on the board #1
DRIVER15 PWMSTOP[0-8] // stop all the moment on the relative board
*/
#define XDRV_15 15
#define XI2C_01 1 // See I2CDEVICES.md
/*
default prescale value from datasheet 7.3.5
round(25000000/(4096*freq))-1;
*/
#ifndef USE_PCA9685_INT_CLOCK
#define USE_PCA9685_INT_CLOCK 250
#endif
#ifndef USE_PCA9685_ADDR
#define USE_PCA9685_ADDR 0x40
#endif
#ifndef USE_PCA9685_FREQ
#define USE_PCA9685_FREQ 50
#endif
#ifndef PCA9685_MAX_COUNT
#define PCA9685_MAX_COUNT 4
#endif
#define PCA9685_REG_MODE1 0x00
#define PCA9685_REG_LED0_ON_L 0x06
#define PCA9685_REG_PRE_SCALE 0xFE
typedef struct
{
uint16_t pwm;
bool running;
uint16_t step;
int16_t every;
uint16_t target;
int16_t direction; // 1 == UP , 0 == stop; -1 == down
} tMotor;
struct PCA9685
{
uint8_t count;
char name[10];
bool inverted[PCA9685_MAX_COUNT];
bool detected[PCA9685_MAX_COUNT];
uint16_t intclk[PCA9685_MAX_COUNT];
uint16_t freq[PCA9685_MAX_COUNT];
tMotor motor[PCA9685_MAX_COUNT][16];
} pca9685;
#include
Ticker TickerPCA9685;
void PCA9685_SetName(uint8_t pca)
{
if (pca9685.count > 1)
{
pca9685.name[7] = IndexSeparator();
pca9685.name[8] = '0' + pca;
pca9685.name[9] = 0;
}
else
{
pca9685.name[7] = 0;
}
}
void PCA9685_Detect(void)
{
memset(&pca9685, 0x0, sizeof(PCA9685));
strcpy_P(pca9685.name, PSTR("PCA9685"));
for (uint8_t dev = 0; dev < PCA9685_MAX_COUNT; dev++)
{
uint32_t addr = USE_PCA9685_ADDR + dev;
if (!I2cSetDevice(addr))
{
continue;
}
pca9685.freq[dev] = USE_PCA9685_FREQ;
pca9685.intclk[dev] = USE_PCA9685_INT_CLOCK;
uint8_t buffer;
if (I2cValidRead8(&buffer, addr, PCA9685_REG_MODE1))
{
I2cWrite8(addr, PCA9685_REG_MODE1, 0x20);
if (I2cValidRead8(&buffer, addr, PCA9685_REG_MODE1))
{
if (0x20 == buffer)
{
// AddLog(LOG_LEVEL_DEBUG, "PCA9685[%02x] found", addr);
pca9685.count++;
pca9685.detected[dev] = true;
I2cSetActiveFound(addr, PSTR("PCA9685"));
PCA9685_Reset(dev); // Reset the controller
}
}
}
}
if (pca9685.count > 0)
{
TickerPCA9685.attach_ms(50, PCA9685_RunMotor);
}
}
void PCA9685_Reset(uint8_t pca)
{
if (!pca9685.detected[pca])
{
return;
}
PCA9685_SetName(pca);
I2cWrite8(USE_PCA9685_ADDR + pca, PCA9685_REG_MODE1, 0x80);
PCA9685_SetPWMfreq(pca, USE_PCA9685_FREQ);
pca9685.inverted[pca] = false;
for (uint32_t pin = 0; pin < 16; pin++)
{
PCA9685_SetPWM(pca, pin, 0, pca9685.inverted[pca]);
pca9685.motor[pca][pin].pwm = PCA9685_GetPWMvalue(0, pca9685.inverted[pca]);
}
Response_P(PSTR("{\"%s\":"), pca9685.name);
ResponseAppend_P(S_JSON_COMMAND_SVALUE, D_CMND_RESET, PSTR("OK"));
ResponseJsonEnd();
}
uint16_t PCA9685_GetPWMvalue(uint16_t pwm, bool inverted)
{
uint16_t pwm_val = pwm;
if (inverted)
{
pwm_val = 4096 - pwm;
}
return pwm_val;
}
void PCA9685_SetPWMfreq(uint8_t pca, double freq)
{
if (freq > 23 && freq < 1527)
{
pca9685.freq[pca] = freq;
}
else
{
pca9685.freq[pca] = 50;
}
uint8_t pre_scale_osc = round((pca9685.intclk[pca] * 100000) / (4096 * pca9685.freq[pca])) - 1;
if (1526 == pca9685.freq[pca])
pre_scale_osc = 0xFF; // force setting for 24hz because rounding causes 1526 to be 254
uint8_t current_mode1 = I2cRead8(USE_PCA9685_ADDR + pca, PCA9685_REG_MODE1); // read current value of MODE1 register
uint8_t sleep_mode1 = (current_mode1 & 0x7F) | 0x10; // Determine register value to put PCA to sleep
I2cWrite8(USE_PCA9685_ADDR + pca, PCA9685_REG_MODE1, sleep_mode1); // Let's sleep a little
I2cWrite8(USE_PCA9685_ADDR + pca, PCA9685_REG_PRE_SCALE, pre_scale_osc); // Set the pre-scaler
I2cWrite8(USE_PCA9685_ADDR + pca, PCA9685_REG_MODE1, current_mode1 | 0xA0); // Reset MODE1 register to original state and enable auto increment
}
void PCA9685_SetPWM_Reg(uint8_t pca, uint8_t pin, uint16_t on, uint16_t off)
{
uint8_t led_reg = PCA9685_REG_LED0_ON_L + 4 * pin;
uint32_t led_data = 0;
I2cWrite8(USE_PCA9685_ADDR + pca, led_reg, on);
I2cWrite8(USE_PCA9685_ADDR + pca, led_reg + 1, (on >> 8));
I2cWrite8(USE_PCA9685_ADDR + pca, led_reg + 2, off);
I2cWrite8(USE_PCA9685_ADDR + pca, led_reg + 3, (off >> 8));
}
void PCA9685_SetPWM(uint8_t pca, uint8_t pin, uint16_t pwm, bool inverted)
{
uint16_t pwm_val = PCA9685_GetPWMvalue(pwm, inverted);
if (4096 == pwm_val)
{
PCA9685_SetPWM_Reg(pca, pin, 4096, 0); // Special use additional bit causes channel to turn on completely without PWM
}
else
{
PCA9685_SetPWM_Reg(pca, pin, 0, pwm_val);
}
pca9685.motor[pca][pin].pwm = pwm_val;
}
void PCA9685_RunMotor()
{
for (uint8_t dev = 0; dev < PCA9685_MAX_COUNT; dev++)
{
if (!pca9685.detected[dev])
continue;
for (uint8_t pin = 0; pin < 15; pin++)
{
tMotor *m = &(pca9685.motor[dev][pin]);
if (!m->running)
continue;
if (m->every == -1 || (m->direction > 0 && m->pwm >= m->target) || (m->direction < 0 && m->pwm <= m->target))
{
m->running = false;
if (m->pwm != m->target)
{
PCA9685_SetPWM(dev, pin, m->target, pca9685.inverted[dev]);
}
continue;
}
if (m->step == 0 || (m->step % m->every == 0))
{
// AddLog(LOG_LEVEL_DEBUG, "PCA9685: MOTOR dev=%u pin=%u s=%u e=%u pwm=%lu target=%lu dir=%d",
// dev,
// pin,
// m->step,
// m->every,
// m->pwm,
// m->target,
// m->direction);
PCA9685_SetPWM(dev, pin, m->pwm + m->direction, pca9685.inverted[dev]);
}
m->step++;
}
}
}
void PCA9685_getCmdSuffix(char *command, uint8_t *suffixNumber)
{
size_t commandLength = strlen(command);
uint8_t result = 0;
*suffixNumber = 0;
if (isdigit(command[commandLength - 1]))
{
result = command[commandLength - 1] - '0';
if (result >= 0 && result <= 7)
{
*suffixNumber = result;
command[commandLength - 1] = '\0';
}
}
}
bool PCA9685_Command(void)
{
bool serviced = true;
bool validpin = false;
uint8_t paramcount = 0;
if (XdrvMailbox.data_len > 0)
{
paramcount = 1;
}
else
{
serviced = false;
return serviced;
}
char argument[XdrvMailbox.data_len];
for (uint32_t ca = 0; ca < XdrvMailbox.data_len; ca++)
{
if ((' ' == XdrvMailbox.data[ca]) || ('=' == XdrvMailbox.data[ca]))
{
XdrvMailbox.data[ca] = ',';
}
if (',' == XdrvMailbox.data[ca])
{
paramcount++;
}
}
UpperCase(XdrvMailbox.data, XdrvMailbox.data);
char command[CMDSZ] = {0};
char pcaName[10];
uint8_t dev;
PCA9685_getCmdSuffix(ArgV(command, 1), &dev);
if (!strcmp(command, "RESET"))
{
PCA9685_Reset(dev);
return serviced;
}
if (!strcmp(command, "STATUS"))
{
PCA9685_OutputTelemetry(false);
return serviced;
}
PCA9685_SetName(dev);
if (!strcmp(command, "INVERT"))
{
if (paramcount > 1)
{
pca9685.inverted[dev] = (1 == atoi(ArgV(argument, 2)));
Response_P(PSTR("{\"%s\":{\"INVERT\":%i, \"Result\":\"OK\"}}"), pca9685.name, pca9685.inverted[dev] ? 1 : 0);
return serviced;
}
else
{ // No parameter was given for invert, so we return current setting
Response_P(PSTR("{\"%s\":{\"INVERT\":%i}}"), pca9685.name, pca9685.inverted[dev] ? 1 : 0);
return serviced;
}
}
if (!strcmp(command, "INTCLK"))
{
if (paramcount > 1)
{
pca9685.intclk[dev] = atoi(ArgV(argument, 2));
Response_P(PSTR("{\"%s\":{\"INTCLK\":%lu, \"Result\":\"OK\"}}"), pca9685.name, pca9685.intclk[dev]);
return serviced;
}
else
{
Response_P(PSTR("{\"%s\":{\"INTCLK\":%lu}}"), pca9685.name, pca9685.intclk[dev]);
return serviced;
}
}
/*
PWMTO timeinsec,pin,target[[,pin,target]...]
*/
if (!strcmp(command, "PWMTO"))
{
uint8_t paramFrom = 1;
while (true)
{
if (paramcount > (2 + paramFrom))
{
uint16_t tids = atoi(ArgV(argument, 2)); // time in 1/10 of second to complete all the motors move
uint16_t pin = atoi(ArgV(argument, 2 + paramFrom));
/*
Sanity check - To be refactored
*/
if (pin > 15)
pin = 15;
if (tids < 2)
tids = 0; // min 2/10 seconds to complete all the moves
if (tids > 600)
tids = 600; // max 60 seconds to complete all the moves
tMotor *m = &pca9685.motor[dev][pin];
m->target = atoi(ArgV(argument, 2 + paramFrom + 1));
if (m->target != m->pwm)
{
m->step = 0;
m->direction = m->target < m->pwm ? -1 : 1;
if( tids == 0 )
{
m->every = -1;
m->running = true;
} else {
// AddLog(LOG_LEVEL_DEBUG, "PCA9685: PWMTO dev=%u pin=%u tids=%u e=? pwm=%lu target=%lu dir=%d",
// dev,
// pin,
// tids,
// m->pwm,
// m->target,
// m->direction);
m->every = 0;
while (m->every < 1)
{
uint16_t stepValue = abs((int16_t)m->pwm - (int16_t)m->target) / abs(m->direction);
if (stepValue < 1)
{
m->direction += m->target < m->pwm ? -1 : 1;
continue;
}
m->every = round((tids * 200) / stepValue);
if (m->every < 1)
{
m->direction += m->target < m->pwm ? -1 : 1;
continue;
}
}
m->running = true;
}
}
else
{
m->running = false;
}
paramFrom += 2;
}
else
{
break;
}
}
Response_P(PSTR("{\"%s\":{\"PWMTO\":\"OK\"}}"), pca9685.name);
return serviced;
}
if (!strcmp(command, "PWMSTOP"))
{
if (pca9685.detected[dev])
{
for (uint8_t pin = 0; pin < 15; pin++)
{
pca9685.motor[dev][pin].running = false;
}
Response_P(PSTR("{\"%s\":{\"PWMSTOP\":\"OK\"}}"), pca9685.name);
return serviced;
}
}
if (!strcmp(command, "PWMF"))
{
if (paramcount > 1)
{
uint16_t new_freq = atoi(ArgV(argument, 2));
if ((new_freq >= 24) && (new_freq <= 1526))
{
PCA9685_SetPWMfreq(dev, new_freq);
Response_P(PSTR("{\"%s\":{\"PWMF\":%i, \"Result\":\"OK\"}}"), pca9685.name, new_freq);
return serviced;
}
}
else
{ // No parameter was given for setfreq, so we return current setting
Response_P(PSTR("{\"%s\":{\"PWMF\":%i}}"), pca9685.name, pca9685.freq[dev]);
return serviced;
}
}
if (!strcmp(command, "PWM"))
{
if (paramcount > 1)
{
uint8_t pin = atoi(ArgV(argument, 2));
if (paramcount > 2)
{
// force motor stop
pca9685.motor[dev][pin].running = false;
if (!strcmp(ArgV(argument, 3), "ON"))
{
PCA9685_SetPWM(dev, pin, 4096, pca9685.inverted[dev]);
Response_P(PSTR("{\"%s\":{\"PIN\":%i,\"PWM\":%i}}"), pca9685.name, pin, 4096);
serviced = true;
return serviced;
}
if (!strcmp(ArgV(argument, 3), "OFF"))
{
PCA9685_SetPWM(dev, pin, 0, pca9685.inverted[dev]);
Response_P(PSTR("{\"%s\":{\"PIN\":%i,\"PWM\":%i}}"), pca9685.name, pin, 0);
serviced = true;
return serviced;
}
uint16_t pwm = atoi(ArgV(argument, 3));
if ((pin >= 0 && pin <= 15 || pin == 61) && (pwm >= 0 && pwm <= 4096))
{
PCA9685_SetPWM(dev, pin, pwm, pca9685.inverted[dev]);
Response_P(PSTR("{\"%s\":{\"PIN\":%i,\"PWM\":%i}}"), pca9685.name, pin, pwm);
serviced = true;
return serviced;
}
}
}
}
return serviced;
}
void PCA9685_OutputTelemetry(bool telemetry)
{
ResponseTime_P(PSTR(""));
for (uint8_t dev = 0; dev < PCA9685_MAX_COUNT; dev++)
{
if (!pca9685.detected[dev])
{
continue;
}
PCA9685_SetName(dev);
ResponseAppend_P(PSTR(",\"%s\":{\"PWM_FREQ\":%i"), pca9685.name, pca9685.freq[dev]);
ResponseAppend_P(PSTR(",\"INVERT\":%i"), pca9685.inverted[dev] ? 1 : 0);
ResponseAppend_P(PSTR(",\"INTCLK\":%lu"), pca9685.intclk[dev]);
for (uint32_t pin = 0; pin < 16; pin++)
{
uint16_t pwm_val = PCA9685_GetPWMvalue(pca9685.motor[dev][pin].pwm, pca9685.inverted[dev]); // return logical (possibly inverted) pwm value
ResponseAppend_P(PSTR(",\"PWM%i\":%i"), pin, pwm_val);
}
ResponseJsonEnd();
}
ResponseJsonEnd();
if (telemetry)
{
MqttPublishTeleSensor();
}
}
bool Xdrv15(uint32_t function)
{
if (!I2cEnabled(XI2C_01))
{
return false;
}
bool result = false;
if (FUNC_INIT == function)
{
PCA9685_Detect();
}
else if (pca9685.count > 0)
{
switch (function)
{
case FUNC_EVERY_SECOND:
if (TasmotaGlobal.tele_period == 0)
{
PCA9685_OutputTelemetry(true);
}
break;
case FUNC_COMMAND_DRIVER:
if (XDRV_15 == XdrvMailbox.index)
{
result = PCA9685_Command();
}
break;
}
}
return result;
}
#endif // USE_PCA9685_V2
#endif // USE_IC2