Revision 4:3bcda7deb098, committed 2016-05-10

Comitter:

el13cj

Date:

Tue May 10 12:14:55 2016 +0000

Parent:

3:a3410f2f061d

Commit message:

About to add directions;

Changed in this revision

--- a/PCA9685.cpp	Thu Apr 14 16:00:40 2016 +0000
+++ b/PCA9685.cpp	Tue May 10 12:14:55 2016 +0000
@@ -7,35 +7,40 @@
 #include "definitions.h"
 
 
-PCA9685::PCA9685(uint8_t i2c_address, I2C i2c_object, float frequency) : i2c_addr(i2c_address), freq(frequency), i2c(i2c_object)
+PCA9685::PCA9685(uint8_t i2c_address, I2C i2c_object, float frequency) :
+
+    i2c_addr(i2c_address),
+    freq(frequency),
+    i2c(i2c_object)
+
 {
-    //int two = 1 + 1;
 
 }
 
-void PCA9685::init(void) {
-    
+void PCA9685::init(void)
+{
+
     reset();
-    
+
     uint8_t prescale = (uint8_t) (OSC_CLOCK / (4096 * PWM_SCALER * freq)) - 1;
-    
+
     write_8(MODE1, 0x21); //0010 0001 : AI ENABLED
     write_8(MODE2, 0x07); //0000 0111 : NOT INVRT, CHANGE ON STOP, TOTEM POLE, \OE = 1, LEDn = HIGH IMP
-    
+
     set_prescale(prescale);
-    
-    
-       
+
 }
 
-void PCA9685::reset(void) {
-        
+void PCA9685::reset(void)
+{
+
     write_8(MODE1,0x00);
-        
+
 }
 
-void PCA9685::set_prescale(uint8_t prescale) {
-    
+void PCA9685::set_prescale(uint8_t prescale)
+{
+
     uint8_t oldmode = read_8(MODE1);
     uint8_t newmode = (oldmode&0x7F) | 0x10; // set the sleep bit
 
@@ -45,15 +50,16 @@
     write_8(MODE1, oldmode);
     wait_ms(5);
     write_8(MODE1, oldmode | 0xa1); // wake up the device
-    
+
 }
 
 
 //NB REQUIRES AUTO-INCREMENT MODE ENABLED
 //0 <= pwm_output <= 15
 //0 <= (count_on || count_off) <= 4095
-void PCA9685::set_pwm_output(int pwm_output, uint16_t count_on, uint16_t count_off) {
-    
+void PCA9685::set_pwm_output(int pwm_output, uint16_t count_on, uint16_t count_off)
+{
+
     char msg[5];
 
     msg[0] = LED0_ON_L + (4 * pwm_output);
@@ -63,17 +69,18 @@
     msg[4] = count_off >> 8;
 
     i2c.write(i2c_addr, msg, 5);
-    
+
 }
 
-void PCA9685::set_pwm_output_on_0(int pwm_output, uint16_t count_off) {
-    
+void PCA9685::set_pwm_output_on_0(int pwm_output, uint16_t count_off)
+{
+
     char msg[3];
-    
+
     msg[0] = LED0_ON_L + 2 + (4 * pwm_output);
     msg[1] = count_off;
     msg[2] = count_off >> 8;
-    
+
     i2c.write(i2c_addr,msg,3);
 
 }
@@ -81,70 +88,80 @@
 
 //NB REQUIRES AUTO-INCREMENT MODE ENABLED
 //0 <= pwm_output <= 15
-void PCA9685::set_pwm_duty(int pwm_output, float duty_cycle) {
-    
-    if (duty_cycle > 1.0) { duty_cycle = 1.0; }
-    if (duty_cycle < 0.0) { duty_cycle = 0.0; }
-    
+void PCA9685::set_pwm_duty(int pwm_output, float duty_cycle)
+{
+
+    if (duty_cycle > 1.0) {
+        duty_cycle = 1.0;
+    }
+    if (duty_cycle < 0.0) {
+        duty_cycle = 0.0;
+    }
+
     uint16_t count_off = (uint16_t) (duty_cycle * 4095);
     uint16_t count_on = 0x0000;
-    
+
     set_pwm_output(pwm_output, count_on, count_off);
-    
+
 }
 
 
 //NB REQUIRES AUTO-INCREMENT MODE ENABLED
 //0 <= pwm_output <= 15
-void PCA9685::set_pwm_pw(int pwm_output, float pulse_width_us) {
-    
+void PCA9685::set_pwm_pw(int pwm_output, float pulse_width_us)
+{
+
     float period_us = (1e6/freq);
-        
+
     float duty = pulse_width_us/period_us;
-    
+
     set_pwm_duty(pwm_output, duty);
-       
+
 }
-    
+
 
-void PCA9685::update(void) {
-    
+void PCA9685::update(void)
+{
+
     i2c.stop();
 
 }
-    
+
 
 
-void PCA9685::write_8(uint8_t reg, uint8_t msg) {
-    
+void PCA9685::write_8(uint8_t reg, uint8_t msg)
+{
+
     char send[2]; //Store the address and data in an array
     send[0] = reg;
     send[1] = msg;
     i2c.write(i2c_addr, send, 2);
-    
+
 }
 
-uint8_t PCA9685::read_8(uint8_t reg) {
-    
+uint8_t PCA9685::read_8(uint8_t reg)
+{
+
     char send[1] ;
     send[0] = reg;
     i2c.write(i2c_addr, send, 1);
     char recieve[1];
     i2c.read(i2c_addr, recieve, 1);
     return recieve[0];
-    
-}    
+
+}
 
-int PCA9685::convert_pwm_value(float pulse_width_us, float period_us) { 
+int PCA9685::convert_pwm_value(float pulse_width_us, float period_us)
+{
 
     int result;
     float interim;
-    
+
     interim = ((pulse_width_us / period_us) * 4095); //scale the pulse width to a 12-bit scale
     result = (int) interim; //round the value to the nearest integer
-    
+
     return result;
-    
-}   
+
+}
 
 #endif
\ No newline at end of file