Revision 0:a95a8df36651, committed 2021-12-18

Comitter:

Kotttaro

Date:

Sat Dec 18 10:02:39 2021 +0000

Child:

1:ce533fde6a19

Child:

2:eb4b8670523a

Child:

3:a4e0f41bd0b6

Commit message:

2021.12.18

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PCA9685.cpp	Sat Dec 18 10:02:39 2021 +0000
@@ -0,0 +1,70 @@
+#include <mbed.h>
+#include "PCA9685.h"
+#define i2c_addr 0x80
+I2C i2c(p28,p27);
+Serial pc(USBTX,USBRX);
+
+//PCA9685::PCA9685(uint8_t addr) {
+//  i2c_addr = addr;
+//}
+
+void PCA9685::begin(void) {
+// WIRE.begin();
+ reset();
+}
+
+void PCA9685::reset(void) {
+ write8(PCA9685_MODE1, 0x0);
+}
+
+void PCA9685::setPWMFreq(float freq) {  
+  float prescaleval = 25000000;
+  prescaleval /= 4096;
+  prescaleval /= freq;
+  prescaleval -= 1;
+  uint8_t prescale = floor(prescaleval + 0.5);
+  uint8_t oldreg = read8(PCA9685_MODE1);
+  //pc.printf("oldreg=%02X , ",oldreg);
+  uint8_t newreg = (oldreg&0x7F) | 0x10; // sleep
+  write8(PCA9685_MODE1, newreg); // go to sleep
+  wait_ms(5);
+  write8(PCA9685_PRESCALE, prescale); // set the prescaler
+  write8(PCA9685_MODE1, oldreg);
+  wait_ms(5);
+  write8(PCA9685_MODE1, oldreg | 0xa1);  //  This sets the MODE1 register to turn on auto increment.
+}
+
+void PCA9685::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);
+  //int ded;
+  char cmd[5];//WIRE.beginTransmission(i2c_addr);
+  cmd[0]=LED0_ON_L+4*num;//WIRE.write(LED0_ON_L+4*num);
+  cmd[1]=on&0xFF;//WIRE.write(on);
+  cmd[2]=on>>8;//WIRE.write(on>>8);
+  cmd[3]=off&0xFF;//WIRE.write(off);
+  cmd[4]=off>>8;//WIRE.write(off>>8);
+  i2c.write(i2c_addr,cmd,5);//WIRE.endTransmission();
+  //pc.printf("write 5 %d\r\n",ded);
+}
+
+void PCA9685::write8(uint8_t addr, uint8_t d) {
+  //int val;
+  char cmd[2];//WIRE.beginTransmission(i2c_addr);
+  cmd[0]=addr;//WIRE.write(addr);
+  cmd[1]=d;//WIRE.write(d);
+  i2c.write(i2c_addr,cmd,2);//WIRE.endTransmission();
+  //pc.printf("write %d\r\n",val);
+}
+
+uint8_t PCA9685::read8(uint8_t addr) {
+  //int val;
+  char cmd[1];                   //WIRE.beginTransmission(i2c_addr);
+  cmd[0]=addr;
+  i2c.write(i2c_addr,cmd,1);   //WIRE.write(addr);
+                                      //WIRE.endTransmission();
+  //pc.printf("write %d\r\n",val);
+  char rtn[1];
+  i2c.read(i2c_addr,rtn,1);    //WIRE.requestFrom((uint8_t)i2c_addr, (uint8_t)1);
+  //pc.printf("read %d %c\r\n",val,rtn[0]);
+  return rtn[0];                        //return WIRE.read();
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PCA9685.h	Sat Dec 18 10:02:39 2021 +0000
@@ -0,0 +1,46 @@
+#ifndef _PCA9685_H
+#define _PCA9685_H
+
+//#if ARDUINO >= 100
+// #include "Arduino.h"
+//#else
+// #include "WProgram.h"
+//#endif
+
+#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 PCA9685 {
+ public:
+  //PCA9685(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);
+  void setPin(uint8_t num, uint16_t val, bool invert=false);
+
+ private:
+  uint8_t i2c_addr;
+
+  uint8_t read8(uint8_t addr);
+  void write8(uint8_t addr, uint8_t d);
+};
+
+#endif