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
Adafruit_PWMServoDriver.cpp
- Committer:
- bxd
- Date:
- 2014-01-05
- Revision:
- 3:5e1fd11c4f94
- Parent:
- 2:237e7b9d17c8
- Child:
- 4:41a00db32ae7
File content as of revision 3:5e1fd11c4f94:
/*************************************************** 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) { // leave the ALL CALL address enabled (we might use that!) // if you don't want ALL CALL, write 00 to offset 00 write8(PCA9685_MODE1, 0x1); } 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; if(_i2c->write(_i2caddr, (char *)&addr, 1, true)) printf("no ack on write before read.\n"); if(_i2c->read(_i2caddr, &data, 1)) printf("no ack on read\n"); return (uint8_t)data; } void Adafruit_PWMServoDriver::write8(uint8_t addr, uint8_t d) { char data[] = { addr, d }; if(_i2c->write(_i2caddr, data, 2)) { printf("No ACK on i2c write!"); } }