PCA995xA.cpp

00001 #include    "mbed.h"
00002 #include    "PCA995xA.h"
00003 
00004 PCA995xA::PCA995xA( PinName i2c_sda, PinName i2c_scl, char i2c_address ) 
00005     : i2c_p( new I2C( i2c_sda, i2c_scl ) ), i2c( *i2c_p ), address( i2c_address )
00006 {
00007 }
00008 
00009 PCA995xA::PCA995xA( I2C &i2c_, char i2c_address ) 
00010     : i2c_p( NULL ), i2c( i2c_ ), address( i2c_address )
00011 {
00012 }
00013 
00014 PCA995xA::~PCA995xA() 
00015 {
00016     if ( NULL != i2c_p )
00017         delete  i2c_p;
00018 }
00019 
00020 void PCA995xA::reset( void )
00021 {
00022     char    v   = 0x06;
00023     i2c.write( 0x00, &v, 1 );
00024 }
00025 
00026 void PCA995xA::pwm( int port, float v )
00027 {
00028     char    reg_addr;
00029     
00030     reg_addr    = pwm_register_access( port );
00031     write( reg_addr, (char)(v * 255.0) );
00032 }
00033 
00034 void PCA995xA::pwm( float *vp )
00035 {
00036     int     n_of_ports  = number_of_ports();
00037     char    data[ n_of_ports + 1 ];
00038     
00039     *data    = pwm_register_access( 0 );
00040     
00041     for ( int i = 1; i <= n_of_ports; i++ )
00042         data[ i ]   = (char)(*vp++ * 255.0);
00043         
00044     write( data, sizeof( data ) );
00045 }
00046 
00047 void PCA995xA::current( int port, float v )
00048 {
00049     char    reg_addr;
00050     
00051     reg_addr    = current_register_access( port );
00052     write( reg_addr, (char)(v * 255.0) );
00053 }
00054 
00055 void PCA995xA::current( float *vp )
00056 {
00057     int     n_of_ports  = number_of_ports();
00058     char    data[ n_of_ports + 1 ];
00059     
00060     *data    = pwm_register_access( 0 );
00061     
00062     for ( int i = 1; i <= n_of_ports; i++ )
00063         data[ i ]   = (char)(*vp++ * 255.0);
00064         
00065     write( data, sizeof( data ) );
00066 }
00067 
00068 void PCA995xA::write( char *data, int length )
00069 {
00070     *data   |= AUTO_INCREMENT;
00071     i2c.write( address, data, length );
00072 }
00073 
00074 void PCA995xA::write( char reg_addr, char data )
00075 {
00076     char    c[2];
00077 
00078     c[0]    = reg_addr;
00079     c[1]    = data;
00080 
00081     i2c.write( address, c, 2 );
00082 }
00083 
00084 void PCA995xA::read( char reg_addr, char *data, int length )
00085 {
00086     reg_addr    |= 0x80;
00087     i2c.write( address, (char *)(&reg_addr), 1, true );
00088     i2c.read(  address, data, length );
00089 }
00090 
00091 char PCA995xA::read( char reg_addr )
00092 {
00093     i2c.write( address, (char *)(&reg_addr), 1, true );
00094     i2c.read(  address, (char *)(&reg_addr), 1 );
00095 
00096     return ( reg_addr );
00097 }