This is a library for our Adafruit 16-channel PWM or any other board that uses the PCA9685 I2C PWM driver chip.
Dependents: K9_Head_Controller
Revision 0:ed0c8a6481fd, committed 2013-08-17
- Comitter:
- bxd
- Date:
- Sat Aug 17 06:59:05 2013 +0000
- Child:
- 1:ac6c5e17c3d3
- Commit message:
- Version 0, untested.
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Adafruit_PWMServoDriver.cpp Sat Aug 17 06:59:05 2013 +0000 @@ -0,0 +1,87 @@ +/*************************************************** + This is a library for our Adafruit 16-channel PWM & Servo driver + + Pick one up today in the adafruit shop! + ------> http://www.adafruit.com/products/815 + + These displays use I2C to communicate, 2 pins are required to + interface. For Arduino UNOs, thats SCL -> Analog 5, SDA -> Analog 4 + + Adafruit invests time and resources providing this open source code, + please support Adafruit and open-source hardware by purchasing + products from Adafruit! + + Written by Limor Fried/Ladyada for Adafruit Industries. + BSD license, all text above must be included in any redistribution + + Ported to mbed by Brian Dickman, mbed.org user bxd. + ****************************************************/ + +#include <Adafruit_PWMServoDriver.h> + +Adafruit_PWMServoDriver::Adafruit_PWMServoDriver(I2C *i2c, uint8_t addr) { + _i2c = i2c; + + // Arduino WIRE library takes address as 7-bit (unshifted), mbed takes 8 bit. + _i2caddr = addr << 1; +} + +void Adafruit_PWMServoDriver::begin(void) { + reset(); +} + + +void Adafruit_PWMServoDriver::reset(void) { + write8(PCA9685_MODE1, 0x0); +} + +void Adafruit_PWMServoDriver::setPWMFreq(float freq) { + //Serial.print("Attempting to set freq "); + //Serial.println(freq); + + float prescaleval = 25000000; + prescaleval /= 4096; + prescaleval /= freq; + prescaleval -= 1; + //printf("Estimated pre-scale: %f\r\n", prescaleval); + uint8_t prescale = floor(prescaleval + 0.5); + //printf("Final pre-scale: %f", prescale); + + uint8_t oldmode = read8(PCA9685_MODE1); + uint8_t newmode = (oldmode&0x7F) | 0x10; // sleep + write8(PCA9685_MODE1, newmode); // go to sleep + write8(PCA9685_PRESCALE, prescale); // set the prescaler + write8(PCA9685_MODE1, oldmode); + wait_ms(5); + write8(PCA9685_MODE1, oldmode | 0xa1); // This sets the MODE1 register to turn on auto increment. + // This is why the beginTransmission below was not working. + // Serial.print("Mode now 0x"); Serial.println(read8(PCA9685_MODE1), HEX); +} + +void Adafruit_PWMServoDriver::setPWM(uint8_t num, uint16_t on, uint16_t off) { + //Serial.print("Setting PWM "); Serial.print(num); Serial.print(": "); Serial.print(on); Serial.print("->"); Serial.println(off); + + uint8_t data[] = { LED0_ON_L+4*num, on, on >> 8, off, off >> 8 }; + _i2c->write(_i2caddr, (const char *)data, 5); + /* + WIRE.beginTransmission(_i2caddr); + WIRE.write(LED0_ON_L+4*num); + WIRE.write(on); + WIRE.write(on>>8); + WIRE.write(off); + WIRE.write(off>>8); + WIRE.endTransmission(); + */ +} + +uint8_t Adafruit_PWMServoDriver::read8(uint8_t addr) { + char data; + _i2c->write(_i2caddr, &data, 1, true); + _i2c->read(_i2caddr, &data, 1); + return (uint8_t)data; +} + +void Adafruit_PWMServoDriver::write8(uint8_t addr, uint8_t d) { + char data[] = { addr, d }; + _i2c->write(_i2caddr, data, 2); +} \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Adafruit_PWMServoDriver.h Sat Aug 17 06:59:05 2013 +0000 @@ -0,0 +1,63 @@ +/*************************************************** + This is a library for our Adafruit 16-channel PWM & Servo driver + + Pick one up today in the adafruit shop! + ------> http://www.adafruit.com/products/815 + + These displays use I2C to communicate, 2 pins are required to + interface. For Arduino UNOs, thats SCL -> Analog 5, SDA -> Analog 4 + + Adafruit invests time and resources providing this open source code, + please support Adafruit and open-source hardware by purchasing + products from Adafruit! + + Written by Limor Fried/Ladyada for Adafruit Industries. + BSD license, all text above must be included in any redistribution + + Ported to mbed by Brian Dickman, mbed.org user bxd. + + Note: you are responsible for creating the I2C object, and setting + frequency if desired. + ****************************************************/ + +#ifndef _ADAFRUIT_PWMServoDriver_H +#define _ADAFRUIT_PWMServoDriver_H + +#include "mbed.h" + + +#define PCA9685_SUBADR1 0x2 +#define PCA9685_SUBADR2 0x3 +#define PCA9685_SUBADR3 0x4 + +#define PCA9685_MODE1 0x0 +#define PCA9685_PRESCALE 0xFE + +#define LED0_ON_L 0x6 +#define LED0_ON_H 0x7 +#define LED0_OFF_L 0x8 +#define LED0_OFF_H 0x9 + +#define ALLLED_ON_L 0xFA +#define ALLLED_ON_H 0xFB +#define ALLLED_OFF_L 0xFC +#define ALLLED_OFF_H 0xFD + + +class Adafruit_PWMServoDriver { + public: + Adafruit_PWMServoDriver(I2C *i2c, uint8_t addr = 0x40); + void begin(void); + void reset(void); + void setPWMFreq(float freq); + void setPWM(uint8_t num, uint16_t on, uint16_t off); + + private: + I2C *_i2c; + uint8_t _i2caddr; + + uint8_t read8(uint8_t addr); + void write8(uint8_t addr, uint8_t d); +}; + +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/License.txt Sat Aug 17 06:59:05 2013 +0000 @@ -0,0 +1,26 @@ +Software License Agreement (BSD License) + +Copyright (c) 2012, Adafruit Industries +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: +1. Redistributions of source code must retain the above copyright +notice, this list of conditions and the following disclaimer. +2. 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. +3. Neither the name of the copyright holders 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 ''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 THE COPYRIGHT HOLDER 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. \ No newline at end of file