K-Study-Team / AFPSD

plus court

Fork of Adafruit-PWM-Servo-Driver by K-Study-Team

AFPSD.cpp@4:b439851f9d20, 2017-11-16 (annotated)

Committer:
llarquere
Date:
Thu Nov 16 18:42:52 2017 +0000
Revision:
4:b439851f9d20
Import

Who changed what in which revision?

UserRevisionLine numberNew contents of line
llarquere 4:b439851f9d20 1 /***************************************************
llarquere 4:b439851f9d20 2 This is a library for our Adafruit 16-channel PWM & Servo driver
llarquere 4:b439851f9d20 3 Pick one up today in the adafruit shop!
llarquere 4:b439851f9d20 4 ------> http://www.adafruit.com/products/815
llarquere 4:b439851f9d20 5 These displays use I2C to communicate, 2 pins are required to
llarquere 4:b439851f9d20 6 interface. For Arduino UNOs, thats SCL -> Analog 5, SDA -> Analog 4
llarquere 4:b439851f9d20 7 Adafruit invests time and resources providing this open source code,
llarquere 4:b439851f9d20 8 please support Adafruit and open-source hardware by purchasing
llarquere 4:b439851f9d20 9 products from Adafruit!
llarquere 4:b439851f9d20 10 Written by Limor Fried/Ladyada for Adafruit Industries.
llarquere 4:b439851f9d20 11 BSD license, all text above must be included in any redistribution
llarquere 4:b439851f9d20 12 ****************************************************/
llarquere 4:b439851f9d20 13 /*****************************
llarquere 4:b439851f9d20 14 This program was ported from https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library.
llarquere 4:b439851f9d20 15 I also added some functions.
llarquere 4:b439851f9d20 16 Shundo Kishi
llarquere 4:b439851f9d20 17 *****************************/
llarquere 4:b439851f9d20 18
llarquere 4:b439851f9d20 19 #include "AFPSD.h"
llarquere 4:b439851f9d20 20
llarquere 4:b439851f9d20 21 AFPSD::AFPSD( const int addr, I2C* i2c ) {
llarquere 4:b439851f9d20 22 _i2c = i2c;
llarquere 4:b439851f9d20 23 _devaddr = addr;
llarquere 4:b439851f9d20 24 }
llarquere 4:b439851f9d20 25
llarquere 4:b439851f9d20 26 void AFPSD::setPrescale( const uint8_t prescale ) {
llarquere 4:b439851f9d20 27 uint8_t oldmode = _read8(PCA9685_MODE1);
llarquere 4:b439851f9d20 28 uint8_t newmode = (oldmode & 0x7F) | 0x10; // sleep
llarquere 4:b439851f9d20 29 #ifdef DEBUGI2C
llarquere 4:b439851f9d20 30 printf("ps %02X : %02d\n", _devaddr, prescale);
llarquere 4:b439851f9d20 31 #endif
llarquere 4:b439851f9d20 32 _write8(PCA9685_MODE1, newmode); // go to sleep
llarquere 4:b439851f9d20 33 wait_ms(5);
llarquere 4:b439851f9d20 34 _write8(PCA9685_PRESCALE, prescale); // set the prescaler
llarquere 4:b439851f9d20 35 _write8(PCA9685_MODE1, oldmode);
llarquere 4:b439851f9d20 36 wait_ms(5);
llarquere 4:b439851f9d20 37 _write8(PCA9685_MODE1, oldmode | 0xA1);
llarquere 4:b439851f9d20 38 }
llarquere 4:b439851f9d20 39
llarquere 4:b439851f9d20 40 void AFPSD::setPWMFreq( const float freq ) {
llarquere 4:b439851f9d20 41 //Serial.print("Attempting to set freq ");
llarquere 4:b439851f9d20 42 //Serial.println(freq);
llarquere 4:b439851f9d20 43 float prescaleval = 25000000;
llarquere 4:b439851f9d20 44 prescaleval /= 4096;
llarquere 4:b439851f9d20 45 prescaleval /= freq;
llarquere 4:b439851f9d20 46 //Serial.print("Estimated pre-scale: "); Serial.println(prescaleval);
llarquere 4:b439851f9d20 47 uint8_t prescale = floor(prescaleval + 0.5f) - 1;
llarquere 4:b439851f9d20 48 //Serial.print("Final pre-scale: "); Serial.println(prescale);
llarquere 4:b439851f9d20 49 setPrescale(prescale);
llarquere 4:b439851f9d20 50 }
llarquere 4:b439851f9d20 51
llarquere 4:b439851f9d20 52 void AFPSD::setPWM( const uint8_t pin, const uint16_t on, const uint16_t off ) {
llarquere 4:b439851f9d20 53 // hmm doesnt work, whyso? ( Not in AI mode. See line 54 above. ( Works now!! :D )
llarquere 4:b439851f9d20 54 char cmd[5];
llarquere 4:b439851f9d20 55 cmd[0] = LED0_ON_L + 4 * pin;
llarquere 4:b439851f9d20 56 cmd[1] = on;
llarquere 4:b439851f9d20 57 cmd[2] = on >> 8;
llarquere 4:b439851f9d20 58 cmd[3] = off;
llarquere 4:b439851f9d20 59 cmd[4] = off >> 8;
llarquere 4:b439851f9d20 60 _i2c->write(_devaddr, cmd, 5);
llarquere 4:b439851f9d20 61 #ifdef DEBUGI2C
llarquere 4:b439851f9d20 62 printf("pwm %02X : %02X %02X %02X %02X %02X\n", _devaddr, cmd[0], cmd[1], cmd[2], cmd[3], cmd[4]);
llarquere 4:b439851f9d20 63 #endif
llarquere 4:b439851f9d20 64 /*write8(LED0_ON_L+4*num, on);
llarquere 4:b439851f9d20 65 write8(LED0_ON_H+4*num, on >> 8);
llarquere 4:b439851f9d20 66 write8(LED0_OFF_L+4*num, off);
llarquere 4:b439851f9d20 67 write8(LED0_OFF_H+4*num, off >> 8);*/
llarquere 4:b439851f9d20 68 }
llarquere 4:b439851f9d20 69
llarquere 4:b439851f9d20 70 // Set pwm duty in us order
llarquere 4:b439851f9d20 71 void AFPSD::setDuty( const uint8_t pin, uint16_t duty ) {
llarquere 4:b439851f9d20 72 float pulselength = 10000; // 10,000 us per second
llarquere 4:b439851f9d20 73 duty = 4094 * duty / pulselength;
llarquere 4:b439851f9d20 74 setPWM(pin, 0, duty);
llarquere 4:b439851f9d20 75 }
llarquere 4:b439851f9d20 76
llarquere 4:b439851f9d20 77 uint8_t AFPSD::_read8( const char pin ) {
llarquere 4:b439851f9d20 78 _i2c->write(_devaddr, &pin, 1);
llarquere 4:b439851f9d20 79 #ifdef DEBUGI2C
llarquere 4:b439851f9d20 80 printf("r8w %02X : %02X\n", _devaddr, pin);
llarquere 4:b439851f9d20 81 #endif
llarquere 4:b439851f9d20 82 char rtn;
llarquere 4:b439851f9d20 83 _i2c->read(_devaddr, &rtn, 1);
llarquere 4:b439851f9d20 84 #ifdef DEBUGI2C
llarquere 4:b439851f9d20 85 printf("r8r %02X : %02X\n", _devaddr, rtn);
llarquere 4:b439851f9d20 86 #endif
llarquere 4:b439851f9d20 87 return rtn;
llarquere 4:b439851f9d20 88 }
llarquere 4:b439851f9d20 89
llarquere 4:b439851f9d20 90 void AFPSD::_write8( const char pin, const char d ) {
llarquere 4:b439851f9d20 91 char cmd[2];
llarquere 4:b439851f9d20 92 cmd[0] = pin;
llarquere 4:b439851f9d20 93 cmd[1] = d;
llarquere 4:b439851f9d20 94 _i2c->write(_devaddr, cmd, 2);
llarquere 4:b439851f9d20 95 #ifdef DEBUGI2C
llarquere 4:b439851f9d20 96 printf("w8 %02X : %02X %02X\n", _devaddr, cmd[0], cmd[1]);
llarquere 4:b439851f9d20 97 #endif
llarquere 4:b439851f9d20 98 }