Richard Nash / Mbed OS i2c_pca9685_test1

basic pca9685

Fork of ic2_test_bus by Martin Simpson

PCA9685.h@1:dbe78e80d722, 2018-10-29 (annotated)

Committer:
richnash
Date:
Mon Oct 29 14:56:07 2018 +0000
Revision:
1:dbe78e80d722
basic pca9685

Who changed what in which revision?

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richnash 1:dbe78e80d722 1 /**Library for PCA9685 16-channel, 12-bit PWM Fm+ I²C-bus LED controller
richnash 1:dbe78e80d722 2 * Example code
richnash 1:dbe78e80d722 3 * @code
richnash 1:dbe78e80d722 4 *
richnash 1:dbe78e80d722 5 *#include"PCA9685.h"
richnash 1:dbe78e80d722 6 *#include"mbed.h"
richnash 1:dbe78e80d722 7 *
richnash 1:dbe78e80d722 8 *
richnash 1:dbe78e80d722 9 *
richnash 1:dbe78e80d722 10 *PCA9685 pwm(D14,D15);
richnash 1:dbe78e80d722 11 *
richnash 1:dbe78e80d722 12 *void setServoPulse(uint8_t n, float pulse) {
richnash 1:dbe78e80d722 13 * float pulselength = 10000; // 10,000 units per seconds
richnash 1:dbe78e80d722 14 * pulse = 4094 * pulse / pulselength;
richnash 1:dbe78e80d722 15 * pwm.setPWM(n, 0, pulse);
richnash 1:dbe78e80d722 16 *}
richnash 1:dbe78e80d722 17 *
richnash 1:dbe78e80d722 18 *void initServoDriver() {
richnash 1:dbe78e80d722 19 * pwm.begin();
richnash 1:dbe78e80d722 20 * pwm.setPrescale(64); //This value is decided for 10ms interval.
richnash 1:dbe78e80d722 21 * pwm.frequencyI2C(400000); //400kHz
richnash 1:dbe78e80d722 22 *}
richnash 1:dbe78e80d722 23 *
richnash 1:dbe78e80d722 24 * int main() {
richnash 1:dbe78e80d722 25 *
richnash 1:dbe78e80d722 26 * while(1){
richnash 1:dbe78e80d722 27 * initServoDriver();
richnash 1:dbe78e80d722 28 * wait(0.2);
richnash 1:dbe78e80d722 29 * setServoPulse(0, 2300);
richnash 1:dbe78e80d722 30 * setServoPulse(1, 500);
richnash 1:dbe78e80d722 31 * wait(0.5);//delay necessary to perform the action
richnash 1:dbe78e80d722 32 * setServoPulse(0, 1350);
richnash 1:dbe78e80d722 33 * setServoPulse(1, 1350);
richnash 1:dbe78e80d722 34 * wait(0.5);
richnash 1:dbe78e80d722 35 * setServoPulse(0,550);
richnash 1:dbe78e80d722 36 * setServoPulse(1, 2250);
richnash 1:dbe78e80d722 37 * wait(0.5);
richnash 1:dbe78e80d722 38 * setServoPulse(0, 2300);
richnash 1:dbe78e80d722 39 * wait(2);
richnash 1:dbe78e80d722 40 * for (int mov = 550; mov < 2300; mov++){
richnash 1:dbe78e80d722 41 * setServoPulse(0, mov);
richnash 1:dbe78e80d722 42 * wait(0.001);
richnash 1:dbe78e80d722 43 * }
richnash 1:dbe78e80d722 44 * for (int mov = 500; mov < 2200; mov++){
richnash 1:dbe78e80d722 45 * setServoPulse(1, mov);
richnash 1:dbe78e80d722 46 * wait(0.001);
richnash 1:dbe78e80d722 47 * }
richnash 1:dbe78e80d722 48 * }
richnash 1:dbe78e80d722 49 *}
richnash 1:dbe78e80d722 50 *@endcode
richnash 1:dbe78e80d722 51 *
richnash 1:dbe78e80d722 52 */
richnash 1:dbe78e80d722 53 #ifndef PCA9685_H
richnash 1:dbe78e80d722 54 #define PCA9685_H
richnash 1:dbe78e80d722 55
richnash 1:dbe78e80d722 56 #include "mbed.h"
richnash 1:dbe78e80d722 57 #include <cmath>
richnash 1:dbe78e80d722 58 //register definitions
richnash 1:dbe78e80d722 59 #define PCA9685_SUBADR1 0x2
richnash 1:dbe78e80d722 60 #define PCA9685_SUBADR2 0x3
richnash 1:dbe78e80d722 61 #define PCA9685_SUBADR3 0x4
richnash 1:dbe78e80d722 62
richnash 1:dbe78e80d722 63 #define PCA9685_MODE1 0x0
richnash 1:dbe78e80d722 64 #define PCA9685_PRESCALE 0xFE
richnash 1:dbe78e80d722 65
richnash 1:dbe78e80d722 66 #define LED0_ON_L 0x6
richnash 1:dbe78e80d722 67 #define LED0_ON_H 0x7
richnash 1:dbe78e80d722 68 #define LED0_OFF_L 0x8
richnash 1:dbe78e80d722 69 #define LED0_OFF_H 0x9
richnash 1:dbe78e80d722 70
richnash 1:dbe78e80d722 71 #define ALLLED_ON_L 0xFA
richnash 1:dbe78e80d722 72 #define ALLLED_ON_H 0xFB
richnash 1:dbe78e80d722 73 #define ALLLED_OFF_L 0xFC
richnash 1:dbe78e80d722 74 #define ALLLED_OFF_H 0xFD
richnash 1:dbe78e80d722 75
richnash 1:dbe78e80d722 76
richnash 1:dbe78e80d722 77 class PCA9685
richnash 1:dbe78e80d722 78 {
richnash 1:dbe78e80d722 79 public:
richnash 1:dbe78e80d722 80 PCA9685(PinName sda, PinName scl, int addr = 0x80);
richnash 1:dbe78e80d722 81
richnash 1:dbe78e80d722 82 void frequencyI2C(int freq);
richnash 1:dbe78e80d722 83
richnash 1:dbe78e80d722 84 void begin(void); //Initialize the controller
richnash 1:dbe78e80d722 85 void reset(void); //Reset the controller
richnash 1:dbe78e80d722 86 void setPrescale(uint8_t prescale);//setPrescale(prescale)
richnash 1:dbe78e80d722 87 /** Set prescale
richnash 1:dbe78e80d722 88 *
richnash 1:dbe78e80d722 89 * @param prescale: set scale for the PWM frequency
richnash 1:dbe78e80d722 90 *
richnash 1:dbe78e80d722 91 */
richnash 1:dbe78e80d722 92 void setPWMFreq(float freq);//Set the pwm frequency
richnash 1:dbe78e80d722 93 /** Set frequency
richnash 1:dbe78e80d722 94 *
richnash 1:dbe78e80d722 95 * @param frequency in Hz
richnash 1:dbe78e80d722 96 *
richnash 1:dbe78e80d722 97 */
richnash 1:dbe78e80d722 98 void setPWM(uint8_t num, uint16_t on, uint16_t off);//SetPWM(channel, on, off)
richnash 1:dbe78e80d722 99 /** Set the start (on) and the end (off) of the part of the PWM pulse of the channel
richnash 1:dbe78e80d722 100 * @param channel : from 0 to 15 the channel the should be update
richnash 1:dbe78e80d722 101 * @param on: from 0 to 4095 the tick when the signal should pass from low to high
richnash 1:dbe78e80d722 102 * @param off: from 0 to 4095 the tick when the signal should pass from high to low
richnash 1:dbe78e80d722 103 */
richnash 1:dbe78e80d722 104
richnash 1:dbe78e80d722 105 void setPWM_ALL(uint16_t on, uint16_t off); //SetPWM(on, off)
richnash 1:dbe78e80d722 106
richnash 1:dbe78e80d722 107 private:
richnash 1:dbe78e80d722 108 void write8(uint8_t address, uint8_t data);
richnash 1:dbe78e80d722 109 char read8(char address);
richnash 1:dbe78e80d722 110 int _i2caddr;
richnash 1:dbe78e80d722 111 I2C i2c;
richnash 1:dbe78e80d722 112 };
richnash 1:dbe78e80d722 113
richnash 1:dbe78e80d722 114 #endif