Initial escape library

Not working yet
2016-10-10 22:42:09 +01:00
parent d3429c677a
commit 9f4dffe704
24 changed files with 2872 additions and 0 deletions
--- a/darkwater/PCA9685.h
+++ b/darkwater/PCA9685.h
@@ -0,0 +1,104 @@
+/*
+PCA9685 driver code is placed under the BSD license.
+Written by Team Dark Water (team@darkwater.io) based on the Adafruit Python Library and the Emlid PCA9685 library
+Copyright (c) 2014, Dark Water
+All rights reserved.
+
+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
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Emlid Limited nor the names of its contributors
+      may be used to endorse or promote products derived from this software
+      without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL EMLID LIMITED BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef PCA9685_HPP
+#define PCA9685_HPP
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <math.h>
+#include <string>
+#include "I2Cdev.h"
+
+#define PCA9685_DEFAULT_ADDRESS     0x60 // 640 default / ESCAPE default is 61
+
+#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
+#define PCA9685_RA_ALL_LED_OFF_H    0xFD
+#define PCA9685_RA_PRE_SCALE        0xFE
+
+#define PCA9685_MODE1_RESTART_BIT   7
+#define PCA9685_MODE1_EXTCLK_BIT    6
+#define PCA9685_MODE1_AI_BIT        5
+#define PCA9685_MODE1_SLEEP_BIT     4
+#define PCA9685_MODE1_SUB1_BIT      3
+#define PCA9685_MODE1_SUB2_BIT      2
+#define PCA9685_MODE1_SUB3_BIT      1
+#define PCA9685_MODE1_ALLCALL_BIT   0
+
+#define PCA9685_MODE2_INVRT_BIT     4
+#define PCA9685_MODE2_OCH_BIT       3
+#define PCA9685_MODE2_OUTDRV_BIT    2
+#define PCA9685_MODE2_OUTNE1_BIT    1
+#define PCA9685_MODE2_OUTNE0_BIT    0
+
+class PCA9685 {
+    public:
+        PCA9685(uint8_t address = PCA9685_DEFAULT_ADDRESS);
+
+        void initialize();
+        bool testConnection();
+
+        float getFrequency();
+        void setFrequency(float frequency);
+
+        void sleep();
+        void restart();
+
+        void setPWM(uint8_t channel, uint16_t offset, uint16_t length);
+        void setPWM(uint8_t channel, uint16_t length);
+        void setPWMmS(uint8_t channel, float length_mS);
+        void setPWMuS(uint8_t channel, float length_uS);
+
+        void setAllPWM(uint16_t offset, uint16_t length);
+        void setAllPWM(uint16_t length);
+        void setAllPWMmS(float length_mS);
+        void setAllPWMuS(float length_uS);
+
+     private:
+        uint8_t devAddr;
+        float frequency;
+};
+
+#endif // PCA9685_ HPP