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New PWM class

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This commit is contained in:
shrkey
2016-10-10 18:36:15 +01:00
parent 166427041c
commit d6091a1030
2 changed files with 58 additions and 21 deletions
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72
darkwater/PCA9685.cpp
View File

@@ -4,6 +4,8 @@ Written by Mikhail Avkhimenia (mikhail.avkhimenia@emlid.com)
Copyright (c) 2014, Emlid Limited, www.emlid.com
All rights reserved.
Modified by Dark Water (team@darkwater.io)
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
@@ -72,12 +74,16 @@ void PCA9685::sleep() {
* @see PCA9685_MODE1_RESTART_BIT
*/
void PCA9685::restart() {
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)));
I2Cdev::writeByte(devAddr, PCA9685_RA_MODE1, 0x00);
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.
@@ -96,12 +102,23 @@ float PCA9685::getFrequency() {
* @see PCA9685_RA_PRE_SCALE
*/
void PCA9685::setFrequency(float frequency) {
sleep();
usleep(10000);
uint8_t prescale = roundf(24576000.f / 4096.f / frequency) - 1;
uint8_t prescale = roundf(25000000.f / 4096.f / frequency) - 1;
I2Cdev::writeByte(devAddr, PCA9685_RA_MODE1, 0x10);
I2Cdev::writeByte(devAddr, PCA9685_RA_PRE_SCALE, prescale);
I2Cdev::writeByte(devAddr, PCA9685_RA_MODE1, 0x80);
I2Cdev::writeByte(devAddr, PCA9685_RA_MODE1, 0x04);
this->frequency = getFrequency();
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
@@ -111,18 +128,25 @@ void PCA9685::setFrequency(float frequency) {
* @see PCA9685_RA_LED0_ON_L
*/
void PCA9685::setPWM(uint8_t channel, uint16_t offset, uint16_t length) {
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);
I2Cdev::writeByte(devAddr, PCA9685_RA_LED0_ON_L + LED_MULTIPLYER * channel, offset & 0xFF);
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_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
@@ -158,8 +182,14 @@ void PCA9685::setPWMuS(uint8_t channel, float length_uS) {
* @see PCA9685_RA_ALL_LED_ON_L
*/
void PCA9685::setAllPWM(uint16_t offset, uint16_t length) {
uint8_t data[4] = {offset & 0xFF, offset >> 8, length & 0xFF, length >> 8};
I2Cdev::writeBytes(devAddr, PCA9685_RA_ALL_LED_ON_L, 4, data);
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_OFF_L, length & 0xFF);
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

7
darkwater/PCA9685.h
View File

@@ -4,6 +4,8 @@ Written by Mikhail Avkhimenia (mikhail.avkhimenia@emlid.com)
Copyright (c) 2014, Emlid Limited
All rights reserved.
Modified by Dark Water (team@darkwater.io)
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
@@ -43,10 +45,15 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#define PCA9685_RA_MODE1 0x00
#define PCA9685_RA_MODE2 0x01
#define PCA9685_RA_SUBADR1 0x02 //I2C-bus subaddress 1
#define PCA9685_RA_SUBADR2 0x03 //I2C-bus subaddress 2
#define PCA9685_RA_SUBADR3 0x04 //I2C-bus subaddress 3
#define PCA9685_RA_ALLCALLADR 0x05 //LED All Call I2C-bus address
#define PCA9685_RA_LED0_ON_L 0x06
#define PCA9685_RA_LED0_ON_H 0x07
#define PCA9685_RA_LED0_OFF_L 0x08
#define PCA9685_RA_LED0_OFF_H 0x09
#define LED_MULTIPLYER 4 // For the other 15 channels
#define PCA9685_RA_ALL_LED_ON_L 0xFA
#define PCA9685_RA_ALL_LED_ON_H 0xFB
#define PCA9685_RA_ALL_LED_OFF_L 0xFC