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. 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, check license.txt for more information All text above must be included in any redistribution
Diff: Adafruit_PWMServoDriver.cpp
- Revision:
- 0:ed0c8a6481fd
- Child:
- 1:ac6c5e17c3d3
--- /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