handling channels in pca9685 module

diff --git a/inc/resource/resource_PCA9685.h b/inc/resource/resource_PCA9685.h
index b1c1fca..a8ed4fa 100644 (file)
--- a/inc/resource/resource_PCA9685.h
+++ b/inc/resource/resource_PCA9685.h
@@ -19,10 +19,9 @@
 #ifndef __RESOURCE_PCA9685_H__
 #define __RESOURCE_PCA9685_H__
 
-int resource_pca9685_init(void);
-int resource_pca9685_fini(void);
+int resource_pca9685_init(unsigned int ch);
+int resource_pca9685_fini(unsigned int ch);
 int resource_pca9685_set_frequency(unsigned int freq_hz);
 int resource_pca9685_set_value_to_channel(unsigned int channel, int on, int off);
-int resource_pca9685_set_value_to_all(int on, int off);
 
 #endif /* __RESOURCE_PCA9685_H__ */

diff --git a/src/resource/resource_PCA9685.c b/src/resource/resource_PCA9685.c
index 642ad4e..3a04ac9 100644 (file)
--- a/src/resource/resource_PCA9685.c
+++ b/src/resource/resource_PCA9685.c
@@ -22,6 +22,7 @@
 #include <peripheral_io.h>
 #include "log.h"
 
+#define PCA9685_CH_MAX 16
 #define RPI3_I2C_BUS 1
 
 /* Registers/etc: */
@@ -48,8 +49,14 @@
 #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)
 {
@@ -92,6 +99,9 @@ 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");
@@ -111,7 +121,7 @@ int resource_pca9685_set_value_to_channel(unsigned int channel, int on, int off)
        return 0;
 }
 
-int resource_pca9685_set_value_to_all(int on, int off)
+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");
@@ -135,17 +145,24 @@ int resource_pca9685_set_value_to_all(int on, int off)
        return 0;
 }
 
-int resource_pca9685_init(void)
+int resource_pca9685_init(unsigned int ch)
 {
        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;
+       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]",
@@ -153,44 +170,75 @@ int resource_pca9685_init(void)
                return -1;
        }
        ret = resource_pca9685_set_value_to_all(0, 0);
-       retvm_if(ret, -1, "failed to set value to register");
+       if (ret) {
+               _E("failed to reset all value to register");
+               goto ERROR;
+       }
 
        ret = peripheral_i2c_write_register_byte(g_i2c_h, MODE2, OUTDRV);
-       retvm_if(ret != PERIPHERAL_ERROR_NONE, -1, "failed to write register");
+       if (ret != PERIPHERAL_ERROR_NONE) {
+               _E("failed to write register");
+               goto ERROR;
+       }
 
        ret = peripheral_i2c_write_register_byte(g_i2c_h, MODE1, ALLCALL);
-       retvm_if(ret != PERIPHERAL_ERROR_NONE, -1, "failed to write register");
+       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);
-       retvm_if(ret != PERIPHERAL_ERROR_NONE, -1, "failed to read register");
+       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);
-       retvm_if(ret != PERIPHERAL_ERROR_NONE, -1, "failed to write register");
+       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");
-               peripheral_i2c_close(g_i2c_h);
-               g_i2c_h = NULL;
-               return -1;
+               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(void)
+int resource_pca9685_fini(unsigned int ch)
 {
-       ref_count--;
+       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 (g_i2c_h) {
+       if (ref_count == 0 && g_i2c_h) {
                _D("finalizing pca9685");
                resource_pca9685_set_value_to_all(0, 0);
                peripheral_i2c_close(g_i2c_h);

diff --git a/src/resource/resource_motor_driver_L298N.c b/src/resource/resource_motor_driver_L298N.c
index a8a9726..291b74b 100644 (file)
--- a/src/resource/resource_motor_driver_L298N.c
+++ b/src/resource/resource_motor_driver_L298N.c
@@ -143,7 +143,7 @@ static int __fini_motor_by_id(motor_id_e id)
        if (g_md_h[id].motor_state > MOTOR_STATE_STOP)
                __motor_brake_n_stop_by_id(id);
 
-       resource_pca9685_fini();
+       resource_pca9685_fini(g_md_h[id].en_ch);
 
        if (g_md_h[id].pin1_h) {
                peripheral_gpio_close(g_md_h[id].pin1_h);
@@ -169,7 +169,7 @@ static int __init_motor_by_id(motor_id_e id)
        if (g_md_h[id].motor_state == MOTOR_STATE_NONE)
                __set_default_configuration_by_id(id);
 
-       ret = resource_pca9685_init();
+       ret = resource_pca9685_init(g_md_h[id].en_ch);
        if (ret) {
                _E("failed to init PCA9685");
                return -1;
@@ -199,7 +199,7 @@ static int __init_motor_by_id(motor_id_e id)
        return 0;
 
 ERROR:
-       resource_pca9685_fini();
+       resource_pca9685_fini(g_md_h[id].en_ch);
 
        if (g_md_h[id].pin1_h) {
                peripheral_gpio_close(g_md_h[id].pin1_h);