Kotaro Irisawa / pca9685_2021_12_22

2021.12.22

Dependents:   4dof_attitude 4dof_screw

PCA9685.cpp@3:a4e0f41bd0b6, 2022-02-24 (annotated)

Committer:
Kotttaro
Date:
Thu Feb 24 06:13:32 2022 +0000
Revision:
3:a4e0f41bd0b6
Parent:
0:a95a8df36651 
2022.02.24

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Kotttaro 0:a95a8df36651 1 #include <mbed.h>
Kotttaro 0:a95a8df36651 2 #include "PCA9685.h"
Kotttaro 0:a95a8df36651 3 #define i2c_addr 0x80
Kotttaro 3:a4e0f41bd0b6 4 I2C i2c(p9,p10);
Kotttaro 0:a95a8df36651 5 Serial pc(USBTX,USBRX);
Kotttaro 0:a95a8df36651 6
Kotttaro 0:a95a8df36651 7 //PCA9685::PCA9685(uint8_t addr) {
Kotttaro 0:a95a8df36651 8 // i2c_addr = addr;
Kotttaro 0:a95a8df36651 9 //}
Kotttaro 0:a95a8df36651 10
Kotttaro 0:a95a8df36651 11 void PCA9685::begin(void) {
Kotttaro 0:a95a8df36651 12 // WIRE.begin();
Kotttaro 0:a95a8df36651 13 reset();
Kotttaro 0:a95a8df36651 14 }
Kotttaro 0:a95a8df36651 15
Kotttaro 0:a95a8df36651 16 void PCA9685::reset(void) {
Kotttaro 0:a95a8df36651 17 write8(PCA9685_MODE1, 0x0);
Kotttaro 0:a95a8df36651 18 }
Kotttaro 0:a95a8df36651 19
Kotttaro 0:a95a8df36651 20 void PCA9685::setPWMFreq(float freq) {
Kotttaro 0:a95a8df36651 21 float prescaleval = 25000000;
Kotttaro 0:a95a8df36651 22 prescaleval /= 4096;
Kotttaro 0:a95a8df36651 23 prescaleval /= freq;
Kotttaro 0:a95a8df36651 24 prescaleval -= 1;
Kotttaro 0:a95a8df36651 25 uint8_t prescale = floor(prescaleval + 0.5);
Kotttaro 0:a95a8df36651 26 uint8_t oldreg = read8(PCA9685_MODE1);
Kotttaro 0:a95a8df36651 27 //pc.printf("oldreg=%02X , ",oldreg);
Kotttaro 0:a95a8df36651 28 uint8_t newreg = (oldreg&0x7F) | 0x10; // sleep
Kotttaro 0:a95a8df36651 29 write8(PCA9685_MODE1, newreg); // go to sleep
Kotttaro 0:a95a8df36651 30 wait_ms(5);
Kotttaro 0:a95a8df36651 31 write8(PCA9685_PRESCALE, prescale); // set the prescaler
Kotttaro 0:a95a8df36651 32 write8(PCA9685_MODE1, oldreg);
Kotttaro 0:a95a8df36651 33 wait_ms(5);
Kotttaro 0:a95a8df36651 34 write8(PCA9685_MODE1, oldreg | 0xa1); // This sets the MODE1 register to turn on auto increment.
Kotttaro 0:a95a8df36651 35 }
Kotttaro 0:a95a8df36651 36
Kotttaro 0:a95a8df36651 37 void PCA9685::setPWM(uint8_t num, uint16_t on, uint16_t off) {
Kotttaro 0:a95a8df36651 38 //Serial.print("Setting PWM "); Serial.print(num); Serial.print(": "); Serial.print(on); Serial.print("->"); Serial.println(off);
Kotttaro 0:a95a8df36651 39 //int ded;
Kotttaro 0:a95a8df36651 40 char cmd[5];//WIRE.beginTransmission(i2c_addr);
Kotttaro 0:a95a8df36651 41 cmd[0]=LED0_ON_L+4*num;//WIRE.write(LED0_ON_L+4*num);
Kotttaro 0:a95a8df36651 42 cmd[1]=on&0xFF;//WIRE.write(on);
Kotttaro 0:a95a8df36651 43 cmd[2]=on>>8;//WIRE.write(on>>8);
Kotttaro 0:a95a8df36651 44 cmd[3]=off&0xFF;//WIRE.write(off);
Kotttaro 0:a95a8df36651 45 cmd[4]=off>>8;//WIRE.write(off>>8);
Kotttaro 0:a95a8df36651 46 i2c.write(i2c_addr,cmd,5);//WIRE.endTransmission();
Kotttaro 0:a95a8df36651 47 //pc.printf("write 5 %d\r\n",ded);
Kotttaro 0:a95a8df36651 48 }
Kotttaro 0:a95a8df36651 49
Kotttaro 0:a95a8df36651 50 void PCA9685::write8(uint8_t addr, uint8_t d) {
Kotttaro 0:a95a8df36651 51 //int val;
Kotttaro 0:a95a8df36651 52 char cmd[2];//WIRE.beginTransmission(i2c_addr);
Kotttaro 0:a95a8df36651 53 cmd[0]=addr;//WIRE.write(addr);
Kotttaro 0:a95a8df36651 54 cmd[1]=d;//WIRE.write(d);
Kotttaro 0:a95a8df36651 55 i2c.write(i2c_addr,cmd,2);//WIRE.endTransmission();
Kotttaro 0:a95a8df36651 56 //pc.printf("write %d\r\n",val);
Kotttaro 0:a95a8df36651 57 }
Kotttaro 0:a95a8df36651 58
Kotttaro 0:a95a8df36651 59 uint8_t PCA9685::read8(uint8_t addr) {
Kotttaro 0:a95a8df36651 60 //int val;
Kotttaro 0:a95a8df36651 61 char cmd[1]; //WIRE.beginTransmission(i2c_addr);
Kotttaro 0:a95a8df36651 62 cmd[0]=addr;
Kotttaro 0:a95a8df36651 63 i2c.write(i2c_addr,cmd,1); //WIRE.write(addr);
Kotttaro 0:a95a8df36651 64 //WIRE.endTransmission();
Kotttaro 0:a95a8df36651 65 //pc.printf("write %d\r\n",val);
Kotttaro 0:a95a8df36651 66 char rtn[1];
Kotttaro 0:a95a8df36651 67 i2c.read(i2c_addr,rtn,1); //WIRE.requestFrom((uint8_t)i2c_addr, (uint8_t)1);
Kotttaro 0:a95a8df36651 68 //pc.printf("read %d %c\r\n",val,rtn[0]);
Kotttaro 0:a95a8df36651 69 return rtn[0]; //return WIRE.read();
Kotttaro 0:a95a8df36651 70 }