105 lines
3.9 KiB
C++
105 lines
3.9 KiB
C++
/*
|
|
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
|