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docs: final batch of header files reviewed
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
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VadimPopov
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Mihai Tudor Panu
Mihai Tudor Panu
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@ -39,7 +39,7 @@
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namespace upm {
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/**
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* @brief PCA9685 PWM controller library
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* @brief PCA9685 PWM Controller library
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* @defgroup pca9685 libupm-pca9685
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* @ingroup adafruit i2c led motor
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*/
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@ -52,10 +52,10 @@ namespace upm {
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* @web http://www.adafruit.com/products/815
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* @con i2c
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*
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* @brief API for the PCA9685 16 channel, 12 bit pwm LED controller
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* @brief API for the PCA9685 16-channel, 12-bit PWM LED Controller
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*
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* This controller is also used on the Adafruit Motor Shield v2.3
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* board to control up to 4 DC motors, 2 step motors and 2 servo
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* This controller is also used on the Adafruit* Motor Shield v2.3
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* board to control up to 4 DC motors, 2 stepper motors, and 2 servo
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* motors.
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*
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* This module was tested with the Adafruit Motor Shield v2.3
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@ -178,137 +178,136 @@ namespace upm {
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} PCA9685_MODE2_T;
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/**
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* pca9685 constructor
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* PCA9685 constructor
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*
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* @param bus i2c bus to use
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* @param address the address for this device
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* @param bus I2C bus to use
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* @param address Address for this device
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*/
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PCA9685(int bus, uint8_t address = PCA9685_DEFAULT_I2C_ADDR);
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/**
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* PCA9685 Destructor
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* PCA9685 destructor
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*/
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~PCA9685();
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/**
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* Write byte value into register
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* Writes a byte value into a register
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*
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* @param reg register location to write into
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* @param byte byte to write
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* @return true if successful
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* @param reg Register location to write into
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* @param byte Byte to write
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* @return True if successful
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*/
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bool writeByte(uint8_t reg, uint8_t byte);
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/**
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* Write word value at register. Note, the device must have the
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* Writes a word value into a register. Note: the device must have the
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* auto-increment bit set in the MODE1 register to work.
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*
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* @param reg register location to write into
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* @param word word to write
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* @return true if successful
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* @param reg Register location to write into
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* @param word Word to write
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* @return True if successful
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*/
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bool writeWord(uint8_t reg, uint16_t word);
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/**
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* Read byte value from register
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* Reads a byte value from a register
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*
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* @param reg register location to read from
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* @return value at specified register
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* @param reg Register location to read from
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* @return Value in a specified register
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*/
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uint8_t readByte(uint8_t reg);
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/**
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* Read word value from register. Note, the device must have the
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* Reads a word value from a register. Note: the device must have the
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* auto-increment bit set in the MODE1 register to work.
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*
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* @param reg register location to read from
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* @return value at specified register
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* @param reg Register location to read from
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* @return Value in a specified register
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*/
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uint16_t readWord(uint8_t reg);
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/**
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* Put the device into or out of Sleep mode. The device is always
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* in sleep mode upon power up.
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* Puts the device in or out of the sleep mode. The device is always
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* in the sleep mode upon power-up.
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*
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* @param sleep true to put into sleep mode, false to take out of
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* sleep mode.
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* @return true if successful
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* @param sleep True to put the device in the sleep mode, false to put out
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* @return True if successful
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*/
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bool setModeSleep(bool sleep);
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/**
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* set or clear the FULL ON bit for a given LED
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* Sets or clears the FULL ON bit for a given LED
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*
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* @param led led number, valid values: 0-15, PCA9685_ALL_LED
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* @param val true to set the bit, false to clear it
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* @return true if successful
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* @param led LED number; valid values are 0-15, PCA9685_ALL_LED
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* @param val True to set the bit, false to clear it
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* @return True if successful
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*/
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bool ledFullOn(uint8_t led, bool val);
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/**
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* set or clear the FULL OFF bit for a given LED. If the FULL ON
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* bit is also set, then FULL OFF has precendence.
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* Sets or clears the FULL OFF bit for a given LED. If the FULL ON
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* bit is also set, FULL OFF has precedence.
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*
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* @param led led number, valid values: 0-15, PCA9685_ALL_LED
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* @param val true to set the bit, false to clear it
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* @return true if successful
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* @param led LED number; valid values are 0-15, PCA9685_ALL_LED
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* @param val True to set the bit, false to clear it
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* @return True if successful
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*/
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bool ledFullOff(uint8_t led, bool val);
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/**
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* set the LED on time (0-4095). See the pca9685 datasheet for details.
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* Sets the 'LED on' time (0-4,095). See the PCA9685 datasheet for details.
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*
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* @param led led number, valid values: 0-15, PCA9685_ALL_LED
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* @param time the 12 bit value at which point the LED will turn on
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* @return true if successful
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* @param led LED number; valid values are 0-15, PCA9685_ALL_LED
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* @param time 12-bit value at which point the LED turns on
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* @return True if successful
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*/
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bool ledOnTime(uint8_t led, uint16_t time);
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/**
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* set the LED off time (0-4095). See the pca9685 datasheet for details.
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* Sets the 'LED off' time (0-4,095). See the PCA9685 datasheet for details.
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*
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* @param led led number, valid values: 0-15, PCA9685_ALL_LED
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* @param time the 12 bit value at which point the LED will turn off
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* @return true if successful
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* @param led LED number; valid values are 0-15, PCA9685_ALL_LED
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* @param time 12-bit value at which point the LED turns off
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* @return True if successful
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*/
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bool ledOffTime(uint8_t led, uint16_t time);
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/**
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* set the prescale value. See the pca9685 datasheet for
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* Sets the prescale value. See the PCA9685 datasheet for
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* details. The prescale can only be set when the device is in
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* sleep mode.
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* the sleep mode.
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*
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* @param prescale the prescale value
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* @return true if successful
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* @param prescale Prescale value
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* @return True if successful
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*/
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bool setPrescale(uint8_t prescale);
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/**
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* set the prescale value based on a desired frequency in hz. The
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* prescale can only be set when the device is in sleep mode.
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* Sets the prescale value based on a desired frequency in Hz. The
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* prescale can only be set when the device is in the sleep mode.
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*
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* @param hz the desired frequency in hz
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* @param oscFreq the oscillator frequency, defaul 25Mhz
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* @return true if successful
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* @param hz Desired frequency in Hz
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* @param oscFreq Oscillator frequency; default is 25 MHz
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* @return True if successful
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*/
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bool setPrescaleFromHz(float hz,
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float oscFreq=PCA9685_INTERNAL_OSC);
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/**
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* enable or disable the RESTART capability of the controller
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* Enables or disables the restart capability of the controller
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*
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* @param enabled true to enable restart, false to disable.
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* Default is enabled.
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* @param enabled True to enable, false to disable
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* It is enabled by default.
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*/
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void enableRestart(bool enabled) { m_restartEnabled = enabled; };
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private:
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/**
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* Enable I2C register auto-increment. This needs to be enabled
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* for write/readWord() to work. The contructor enables this by
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* Enables the I2C register auto-increment. This needs to be enabled
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* for write/readWord() to work. The contructor enables this by
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* default.
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*
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* @param ai true to enable auto-increment of i2c regs, false otherwise
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* @param ai True to enable, false otherwise
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*/
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bool enableAutoIncrement(bool ai);
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