-/*
- * 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
-
-static peripheral_i2c_h g_i2c_h = NULL;
-static unsigned int ref_count = 0;
-
-int 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 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");
-
- 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;
-}
-
-int 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 pca9685_init(void)
-{
- uint8_t mode1 = 0;
- int ret = PERIPHERAL_ERROR_NONE;
-
- if (g_i2c_h) {
- ref_count++;
- _D("Already initialized - ref_count[%u]\n", ref_count);
- return 0;
- }
-
- 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 = pca9685_set_value_to_all(0, 0);
- retvm_if(ret, -1, "failed to set value to register");
-
- ret = peripheral_i2c_write_register_byte(g_i2c_h, MODE2, OUTDRV);
- retvm_if(ret != PERIPHERAL_ERROR_NONE, -1, "failed to write register");
-
- ret = peripheral_i2c_write_register_byte(g_i2c_h, MODE1, ALLCALL);
- retvm_if(ret != PERIPHERAL_ERROR_NONE, -1, "failed to write register");
-
- usleep(500); // wait for oscillator
-
- ret = peripheral_i2c_read_register_byte(g_i2c_h, MODE1, &mode1);
- retvm_if(ret != PERIPHERAL_ERROR_NONE, -1, "failed to read register");
-
- mode1 = mode1 & (~SLEEP); // # wake up (reset sleep)
- ret = peripheral_i2c_write_register_byte(g_i2c_h, MODE1, mode1);
- retvm_if(ret != PERIPHERAL_ERROR_NONE, -1, "failed to write register");
-
- usleep(500); // wait for oscillator
-
- ret = pca9685_set_frequency(60);
- if (ret) {
- _E("failed to set frequency");
- peripheral_i2c_close(g_i2c_h);
- g_i2c_h = NULL;
- return -1;
- }
- ref_count++;
-
- return 0;
-}
-
-int pca9685_fini(void)
-{
- ref_count--;
-
- _D("ref count - %u", ref_count);
-
- if (g_i2c_h) {
- _D("finalizing pca9685");
- pca9685_set_value_to_all(0, 0);
- peripheral_i2c_close(g_i2c_h);
- g_i2c_h = NULL;
- }
-
- return 0;
-}