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PCA9685.cpp@3:970c2fa6ef3f, 2019-10-25 (annotated)
- Committer:
- lant19
- Date:
- Fri Oct 25 02:12:02 2019 +0000
- Revision:
- 3:970c2fa6ef3f
- Parent:
- 2:73237ebf0640
with address
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
dreamworker | 0:c7f4744deec3 | 1 | #include "PCA9685.h" |
dreamworker | 0:c7f4744deec3 | 2 | #include "mbed.h" |
lant19 | 2:73237ebf0640 | 3 | PCA9685::PCA9685(PinName sda, PinName scl) : i2c(sda, scl) {} |
lant19 | 2:73237ebf0640 | 4 | //定义引脚与地址 |
lant19 | 2:73237ebf0640 | 5 | void PCA9685::begin(void)//初始化 |
dreamworker | 0:c7f4744deec3 | 6 | { |
lant19 | 3:970c2fa6ef3f | 7 | reset(0x80); |
lant19 | 3:970c2fa6ef3f | 8 | reset(0x82); |
dreamworker | 0:c7f4744deec3 | 9 | } |
dreamworker | 0:c7f4744deec3 | 10 | |
lant19 | 2:73237ebf0640 | 11 | void PCA9685::frequencyI2C(int freq)//初始化 |
dreamworker | 0:c7f4744deec3 | 12 | { |
dreamworker | 0:c7f4744deec3 | 13 | i2c.frequency(freq); |
dreamworker | 0:c7f4744deec3 | 14 | } |
lant19 | 2:73237ebf0640 | 15 | void PCA9685::write8(uint8_t address, uint8_t data)//写函数 |
dreamworker | 0:c7f4744deec3 | 16 | { |
dreamworker | 0:c7f4744deec3 | 17 | char cmd[2]; |
dreamworker | 0:c7f4744deec3 | 18 | cmd[0] = address; |
dreamworker | 0:c7f4744deec3 | 19 | cmd[1] = data; |
dreamworker | 0:c7f4744deec3 | 20 | i2c.write(_i2caddr, cmd, 2); |
dreamworker | 0:c7f4744deec3 | 21 | } |
dreamworker | 0:c7f4744deec3 | 22 | |
lant19 | 2:73237ebf0640 | 23 | char PCA9685::read8(char address)//读函数 |
dreamworker | 0:c7f4744deec3 | 24 | { |
dreamworker | 0:c7f4744deec3 | 25 | i2c.write(_i2caddr, &address, 1); |
dreamworker | 0:c7f4744deec3 | 26 | char rtn; |
dreamworker | 0:c7f4744deec3 | 27 | i2c.read(_i2caddr, &rtn, 1); |
dreamworker | 0:c7f4744deec3 | 28 | return rtn; |
dreamworker | 0:c7f4744deec3 | 29 | } |
dreamworker | 0:c7f4744deec3 | 30 | |
lant19 | 3:970c2fa6ef3f | 31 | void PCA9685::reset(int addr4)//复位 |
dreamworker | 0:c7f4744deec3 | 32 | { |
lant19 | 3:970c2fa6ef3f | 33 | _i2caddr=addr4; |
dreamworker | 0:c7f4744deec3 | 34 | write8(PCA9685_MODE1, 0x0); |
dreamworker | 0:c7f4744deec3 | 35 | } |
lant19 | 3:970c2fa6ef3f | 36 | void PCA9685::setPrescale(uint8_t prescale,int addr2) { |
lant19 | 3:970c2fa6ef3f | 37 | _i2caddr=addr2; |
dreamworker | 0:c7f4744deec3 | 38 | uint8_t oldmode = read8(PCA9685_MODE1); |
dreamworker | 0:c7f4744deec3 | 39 | uint8_t newmode = (oldmode&0x7F) | 0x10; // sleep |
dreamworker | 0:c7f4744deec3 | 40 | write8(PCA9685_MODE1, newmode); // go to sleep |
dreamworker | 0:c7f4744deec3 | 41 | wait_ms(5); |
lant19 | 2:73237ebf0640 | 42 | write8(PCA9685_PRESCALE, prescale); // 设置预缩放 |
dreamworker | 0:c7f4744deec3 | 43 | write8(PCA9685_MODE1, oldmode); |
dreamworker | 0:c7f4744deec3 | 44 | wait_ms(5); |
dreamworker | 0:c7f4744deec3 | 45 | write8(PCA9685_MODE1, oldmode | 0xa1); |
dreamworker | 0:c7f4744deec3 | 46 | } |
lant19 | 3:970c2fa6ef3f | 47 | void PCA9685::setPWMFreq(float freq,int addr3) //设置频率 |
dreamworker | 0:c7f4744deec3 | 48 | { |
lant19 | 3:970c2fa6ef3f | 49 | _i2caddr=addr3; |
dreamworker | 0:c7f4744deec3 | 50 | float prescaleval = 25000000; |
dreamworker | 0:c7f4744deec3 | 51 | prescaleval /= 4096; |
dreamworker | 0:c7f4744deec3 | 52 | prescaleval /= freq; |
dreamworker | 0:c7f4744deec3 | 53 | uint8_t prescale = floor(prescaleval + 0.5) - 1; |
lant19 | 3:970c2fa6ef3f | 54 | setPrescale(prescale,addr3); |
dreamworker | 0:c7f4744deec3 | 55 | } |
dreamworker | 0:c7f4744deec3 | 56 | |
lant19 | 2:73237ebf0640 | 57 | void PCA9685::setPWM(uint8_t num, uint16_t on, uint16_t off,int addr) |
dreamworker | 0:c7f4744deec3 | 58 | { |
lant19 | 2:73237ebf0640 | 59 | _i2caddr=addr; |
dreamworker | 0:c7f4744deec3 | 60 | char cmd[5]; |
dreamworker | 0:c7f4744deec3 | 61 | cmd[0] = LED0_ON_L + 4 * num; |
dreamworker | 0:c7f4744deec3 | 62 | cmd[1] = on; |
dreamworker | 0:c7f4744deec3 | 63 | cmd[2] = on >> 8; |
dreamworker | 0:c7f4744deec3 | 64 | cmd[3] = off; |
dreamworker | 0:c7f4744deec3 | 65 | cmd[4] = off >> 8; |
dreamworker | 0:c7f4744deec3 | 66 | i2c.write(_i2caddr, cmd, 5); |
dreamworker | 0:c7f4744deec3 | 67 | } |