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Updated library - removed comments

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This commit is contained in:
shrkey
2016-10-10 19:45:19 +01:00
parent d6091a1030
commit 3822cf9447
2 changed files with 5 additions and 41 deletions
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40
darkwater/PCA9685.cpp
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@@ -1,11 +1,9 @@
/* /*
PCA9685 driver code is placed under the BSD license. PCA9685 driver code is placed under the BSD license.
Written by Mikhail Avkhimenia (mikhail.avkhimenia@emlid.com) Written by Team Dark Water (team@darkwater.io) based on the Adafruit Python Library
Copyright (c) 2014, Emlid Limited, www.emlid.com Copyright (c) 2014, Dark Water
All rights reserved. All rights reserved.
Modified by Dark Water (team@darkwater.io)
Redistribution and use in source and binary forms, with or without Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met: modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright * Redistributions of source code must retain the above copyright
@@ -74,16 +72,8 @@ void PCA9685::sleep() {
* @see PCA9685_MODE1_RESTART_BIT * @see PCA9685_MODE1_RESTART_BIT
*/ */
void PCA9685::restart() { void PCA9685::restart() {
I2Cdev::writeByte(devAddr, PCA9685_RA_MODE1, 0x00); I2Cdev::writeByte(devAddr, PCA9685_RA_MODE1, 0x00);
I2Cdev::writeByte(devAddr, PCA9685_RA_MODE2, 0x04); I2Cdev::writeByte(devAddr, PCA9685_RA_MODE2, 0x04);
// I2Cdev::writeByte(devAddr, PCA9685_RA_MODE1, (1 << PCA9685_MODE1_SLEEP_BIT));
// I2Cdev::writeByte(devAddr, PCA9685_RA_MODE1, ((1 << PCA9685_MODE1_SLEEP_BIT)
// | (1 << PCA9685_MODE1_EXTCLK_BIT)));
// I2Cdev::writeByte(devAddr, PCA9685_RA_MODE1, ((1 << PCA9685_MODE1_RESTART_BIT)
// | (1 << PCA9685_MODE1_EXTCLK_BIT)
// | (1 << PCA9685_MODE1_AI_BIT)));
} }
/** Calculate prescale value based on the specified frequency and write it to the device. /** Calculate prescale value based on the specified frequency and write it to the device.
@@ -112,13 +102,6 @@ void PCA9685::setFrequency(float frequency) {
I2Cdev::writeByte(devAddr, PCA9685_RA_MODE1, 0x04); I2Cdev::writeByte(devAddr, PCA9685_RA_MODE1, 0x04);
this->frequency = getFrequency(); this->frequency = getFrequency();
restart(); restart();
// sleep();
// usleep(10000);
// uint8_t prescale = roundf(24576000.f / 4096.f / frequency) - 1;
// I2Cdev::writeByte(devAddr, PCA9685_RA_PRE_SCALE, prescale);
// this->frequency = getFrequency();
// restart();
} }
/** Set channel start offset of the pulse and it's length /** Set channel start offset of the pulse and it's length
@@ -134,19 +117,6 @@ void PCA9685::setPWM(uint8_t channel, uint16_t offset, uint16_t length) {
I2Cdev::writeByte(devAddr, PCA9685_RA_LED0_ON_H + LED_MULTIPLYER * channel, offset >> 8); I2Cdev::writeByte(devAddr, PCA9685_RA_LED0_ON_H + LED_MULTIPLYER * channel, offset >> 8);
I2Cdev::writeByte(devAddr, PCA9685_RA_LED0_OFF_L + LED_MULTIPLYER * channel, length & 0xFF); I2Cdev::writeByte(devAddr, PCA9685_RA_LED0_OFF_L + LED_MULTIPLYER * channel, length & 0xFF);
I2Cdev::writeByte(devAddr, PCA9685_RA_LED0_OFF_H + LED_MULTIPLYER * channel, length >> 8); I2Cdev::writeByte(devAddr, PCA9685_RA_LED0_OFF_H + LED_MULTIPLYER * channel, length >> 8);
// uint8_t data[4] = {0, 0, 0, 0};
// if(length == 0) {
// data[3] = 0x10;
// } else if(length >= 4096) {
// data[1] = 0x10;
// } else {
// data[0] = offset & 0xFF;
// data[1] = offset >> 8;
// data[2] = length & 0xFF;
// data[3] = length >> 8;
// }
// I2Cdev::writeBytes(devAddr, PCA9685_RA_LED0_ON_L + 4 * channel, 4, data);
} }
/** Set channel's pulse length /** Set channel's pulse length
@@ -181,15 +151,11 @@ void PCA9685::setPWMuS(uint8_t channel, float length_uS) {
* @param Length (0-4095) * @param Length (0-4095)
* @see PCA9685_RA_ALL_LED_ON_L * @see PCA9685_RA_ALL_LED_ON_L
*/ */
void PCA9685::setAllPWM(uint16_t offset, uint16_t length) { void PCA9685::setAllPWM(uint16_t offset, uint16_t length) {
I2Cdev::writeByte(devAddr, PCA9685_RA_ALL_LED_ON_L, offset & 0xFF); I2Cdev::writeByte(devAddr, PCA9685_RA_ALL_LED_ON_L, offset & 0xFF);
I2Cdev::writeByte(devAddr, PCA9685_RA_ALL_LED_ON_H, offset >> 8); I2Cdev::writeByte(devAddr, PCA9685_RA_ALL_LED_ON_H, offset >> 8);
I2Cdev::writeByte(devAddr, PCA9685_RA_ALL_LED_OFF_L, length & 0xFF); I2Cdev::writeByte(devAddr, PCA9685_RA_ALL_LED_OFF_L, length & 0xFF);
I2Cdev::writeByte(devAddr, PCA9685_RA_ALL_LED_OFF_H, length >> 8); I2Cdev::writeByte(devAddr, PCA9685_RA_ALL_LED_OFF_H, length >> 8);
// uint8_t data[4] = {offset & 0xFF, offset >> 8, length & 0xFF, length >> 8};
// I2Cdev::writeBytes(devAddr, PCA9685_RA_ALL_LED_ON_L, 4, data);
} }
/** Set pulse length for all channels /** Set pulse length for all channels

6
darkwater/PCA9685.h
View File

@@ -1,11 +1,9 @@
/* /*
PCA9685 driver code is placed under the BSD license. PCA9685 driver code is placed under the BSD license.
Written by Mikhail Avkhimenia (mikhail.avkhimenia@emlid.com) Written by Team Dark Water (team@darkwater.io) based on the Adafruit Python Library and the Emlid PCA9685 library
Copyright (c) 2014, Emlid Limited Copyright (c) 2014, Dark Water
All rights reserved. All rights reserved.
Modified by Dark Water (team@darkwater.io)
Redistribution and use in source and binary forms, with or without Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met: modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright * Redistributions of source code must retain the above copyright