Adds configurable I2C address for PCA9685 PWM driver (#26051)

* Adds configurable I2C address for PCA9685 PWM driver

Introduces a parameter to set the I2C address for the PCA9685 PWM output driver, enhancing flexibility for hardware variations. Updates documentation and board initialization scripts to support the new configuration and streamline device startup.

* Update src/drivers/pca9685_pwm_out/module.yaml

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

* Update src/drivers/pca9685_pwm_out/module.yaml

---------

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>

boards/ark/fmu-v6x/default.px4board

@@ -40,6 +40,7 @@ CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_COMMON_RC=y

boards/ark/fmu-v6x/init/rc.board_sensors

@@ -97,5 +97,11 @@ bmm150 -I start
 # Internal Baro on I2C
 bmp388 -I start
 
+# Start an external PWM generator
+if param greater PCA9685_EN_BUS 0
+then
+	pca9685_pwm_out start
+fi
+
 unset HAVE_PM2
 unset HAVE_PM3

boards/ark/fpv/default.px4board

@@ -21,6 +21,7 @@ CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
 CONFIG_DRIVERS_UAVCAN=y

boards/ark/fpv/init/rc.board_sensors

@@ -16,3 +16,9 @@ iis2mdc -R 0 -I -b 4 start
 
 # Internal Baro on I2C
 bmp388 -I -b 2 start
+
+# Start an external PWM generator
+if param greater PCA9685_EN_BUS 0
+then
+	pca9685_pwm_out start
+fi

boards/ark/pi6x/default.px4board

@@ -19,6 +19,7 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA=y
 CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y

boards/ark/pi6x/init/rc.board_sensors

@@ -34,3 +34,9 @@ paw3902 -s -b 3 start -Y 90
 
 # Internal distance sensor
 afbrs50 start
+
+# Start an external PWM generator
+if param greater PCA9685_EN_BUS 0
+then
+	pca9685_pwm_out start
+fi

boards/auterion/fmu-v6s/init/rc.board_sensors

@@ -74,5 +74,5 @@ ist8310 -X -b 1 -R 10 start
 # Start an external PWM generator
 if param greater PCA9685_EN_BUS 0
 then
-	pca9685_pwm_out start -b 1
+	pca9685_pwm_out start
 fi

boards/bluerobotics/navigator/init/rc.board_defaults

@@ -11,3 +11,7 @@ param set BAT1_V_DIV 5.7
 
 # Always keep current config
 param set SYS_AUTOCONFIG 0
+
+# PCA9685 PWM Out defaults
+param set-default PCA9685_EN_BUS 4
+param set-default PCA9685_I2C_ADDR 64

boards/bluerobotics/navigator/init/rc.board_sensors

@@ -28,7 +28,7 @@ then
 	echo "ads1115 not found."
 fi
 
-if ! pca9685_pwm_out start -a 0x40 -b 4
+if ! pca9685_pwm_out start
 then
 	echo "pca9685_pwm_out not found."
 fi

docs/en/advanced_config/parameter_reference.md

@@ -486,6 +486,16 @@ The integer refers to the I2C bus number where PCA9685 is connected.
 | ------ | -------- | -------- | --------- | ------- | ---- |
 |   | 0        | 10       |           | 0       |
 
+### PCA9685_I2C_ADDR (`INT32`) {#PCA9685_I2C_ADDR}
+
+I2C address of PCA9685.
+
+The default address is 0x40 (64).
+
+| Reboot | minValue | maxValue | increment | default | unit |
+| ------ | -------- | -------- | --------- | ------- | ---- |
+|   | 0        | 127      |           | 64      |
+
 ### PCA9685_FAIL1 (`INT32`) {#PCA9685_FAIL1}
 
 PCA9685 Output Channel 1 Failsafe Value.

docs/en/modules/modules_driver.md

@@ -899,6 +899,8 @@ fetching the latest mixing result and write them to PCA9685 at its scheduling ti
 It can do full 12bits output as duty-cycle mode, while also able to output precious pulse width
 that can be accepted by most ESCs and servos.
 
+The I2C bus and address can be configured via parameters `PCA9685_EN_BUS` and `PCA9685_I2C_ADDR`, or via command line arguments.
+
 ### Examples
 
 It is typically started with:

src/drivers/pca9685_pwm_out/main.cpp

@@ -47,6 +47,7 @@
 #include <drivers/drv_hrt.h>
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/sem.hpp>
+#include <lib/parameters/param.h>
 
 #include "PCA9685.h"
 
@@ -356,8 +357,30 @@ int PCA9685Wrapper::custom_command(int argc, char **argv) {
 
 int PCA9685Wrapper::task_spawn(int argc, char **argv) {
 	int ch;
-	int address=PCA9685_DEFAULT_ADDRESS;
-	int iicbus=PCA9685_DEFAULT_IICBUS;
+	int address = PCA9685_DEFAULT_ADDRESS;
+	int iicbus = PCA9685_DEFAULT_IICBUS;
+
+	int32_t en_bus = 0;
+	param_t param_handle = param_find("PCA9685_EN_BUS");
+
+	if (param_handle != PARAM_INVALID) {
+		param_get(param_handle, &en_bus);
+
+		if (en_bus > 0) {
+			iicbus = en_bus;
+		}
+	}
+
+	int32_t i2c_addr = 0;
+	param_handle = param_find("PCA9685_I2C_ADDR");
+
+	if (param_handle != PARAM_INVALID) {
+		param_get(param_handle, &i2c_addr);
+
+		if (i2c_addr > 0) {
+			address = i2c_addr;
+		}
+	}
 
 	int myoptind = 1;
 	const char *myoptarg = nullptr;

src/drivers/pca9685_pwm_out/module.yaml

@@ -29,6 +29,16 @@ parameters:
         min: 0
         max: 10
         default: 0
+      PCA9685_I2C_ADDR:
+        description:
+          short: I2C address of PCA9685
+          long: |
+            I2C address of PCA9685.
+            The default address is 0x40 (64).
+        type: int32
+        min: 1
+        max: 127
+        default: 64
       PCA9685_SCHD_HZ:
         description:
           short: PWM update rate