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fba8139416
Signed-off-by: Kevron Rees <kevron.m.rees@intel.com> Signed-off-by: sisinty sasmita patra <sisinty.s.patra@intel.com>
321 lines
11 KiB
C++
321 lines
11 KiB
C++
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2015 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#pragma once
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#include <string>
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#include <mraa/i2c.h>
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#include <mraa/gpio.h>
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#define PCA9685_I2C_BUS 0
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#define PCA9685_DEFAULT_I2C_ADDR 0x60
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// internal oscillator frequency
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#define PCA9685_INTERNAL_OSC 25000000.0
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// This is a 'special' LED number, used to refer to the ALL_LED registers
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// that affect all LED outputs at once.
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#define PCA9685_ALL_LED 0xff
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namespace upm {
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/**
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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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/**
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* @library pca9685
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* @sensor pca9685
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* @comname PCA9685 PWM Controller
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* @type led motor
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* @man adafruit
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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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*
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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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*
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* @image html pca9685.jpg
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* @snippet pca9685.cxx Interesting
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*/
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class PCA9685 {
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public:
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/**
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* PCA9685 registers
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*/
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typedef enum { REG_MODE1 = 0x00,
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REG_MODE2 = 0x01,
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REG_I2C_SA1 = 0x02, // I2C subaddress 1
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REG_I2C_SA2 = 0x03,
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REG_I2C_SA3 = 0x04,
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REG_ALLCALL = 0x05, // I2C all call address
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// LED output PWM control
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REG_LED0_ON_L = 0x06, // LED0 ON low byte
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REG_LED0_ON_H = 0x07, // LED0 ON high byte
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REG_LED0_OFF_L = 0x08, // LED0 OFF low byte
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REG_LED0_OFF_H = 0x09, // LED0 OFF high byte
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REG_LED1_ON_L = 0x0a,
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REG_LED1_ON_H = 0x0b,
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REG_LED1_OFF_L = 0x0c,
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REG_LED1_OFF_H = 0x0d,
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REG_LED2_ON_L = 0x0e,
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REG_LED2_ON_H = 0x0f,
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REG_LED2_OFF_L = 0x10,
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REG_LED2_OFF_H = 0x11,
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REG_LED3_ON_L = 0x12,
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REG_LED3_ON_H = 0x13,
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REG_LED3_OFF_L = 0x14,
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REG_LED3_OFF_H = 0x15,
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REG_LED4_ON_L = 0x16,
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REG_LED4_ON_H = 0x17,
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REG_LED4_OFF_L = 0x18,
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REG_LED4_OFF_H = 0x19,
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REG_LED5_ON_L = 0x1a,
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REG_LED5_ON_H = 0x1b,
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REG_LED5_OFF_L = 0x1c,
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REG_LED5_OFF_H = 0x1d,
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REG_LED6_ON_L = 0x1e,
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REG_LED6_ON_H = 0x1f,
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REG_LED6_OFF_L = 0x20,
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REG_LED6_OFF_H = 0x21,
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REG_LED7_ON_L = 0x22,
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REG_LED7_ON_H = 0x23,
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REG_LED7_OFF_L = 0x24,
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REG_LED7_OFF_H = 0x25,
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REG_LED8_ON_L = 0x26,
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REG_LED8_ON_H = 0x27,
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REG_LED8_OFF_L = 0x28,
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REG_LED8_OFF_H = 0x29,
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REG_LED9_ON_L = 0x2a,
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REG_LED9_ON_H = 0x2b,
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REG_LED9_OFF_L = 0x2c,
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REG_LED9_OFF_H = 0x2d,
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REG_LED10_ON_L = 0x2e,
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REG_LED10_ON_H = 0x2f,
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REG_LED10_OFF_L = 0x30,
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REG_LED10_OFF_H = 0x31,
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REG_LED11_ON_L = 0x32,
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REG_LED11_ON_H = 0x33,
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REG_LED11_OFF_L = 0x34,
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REG_LED11_OFF_H = 0x35,
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REG_LED12_ON_L = 0x36,
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REG_LED12_ON_H = 0x37,
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REG_LED12_OFF_L = 0x38,
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REG_LED12_OFF_H = 0x39,
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REG_LED13_ON_L = 0x3a,
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REG_LED13_ON_H = 0x3b,
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REG_LED13_OFF_L = 0x3c,
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REG_LED13_OFF_H = 0x3d,
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REG_LED14_ON_L = 0x3e,
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REG_LED14_ON_H = 0x3f,
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REG_LED14_OFF_L = 0x40,
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REG_LED14_OFF_H = 0x41,
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REG_LED15_ON_L = 0x42,
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REG_LED15_ON_H = 0x43,
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REG_LED15_OFF_L = 0x44,
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REG_LED15_OFF_H = 0x45,
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// 0x46-0xf9 reserved
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REG_ALL_LED_ON_L = 0xfa, // write all LED ON L
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REG_ALL_LED_ON_H = 0xfb, // write all LED ON H
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REG_ALL_LED_OFF_L = 0xfc, // write all LED OFF L
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REG_ALL_LED_OFF_H = 0xfd, // write all LED OFF H
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REG_PRESCALE = 0xfe,
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REG_TESTMODE = 0xff // don't use
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} PCA9685_REG_T;
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/**
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* MODE1 bits
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*/
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typedef enum { MODE1_ALL_CALL = 0x01, // all call status
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MODE1_SUB3 = 0x02, // subcall 3 status
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MODE1_SUB2 = 0x04, // subcall 2 status
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MODE1_SUB1 = 0x08, // subcall 1 status
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MODE1_SLEEP = 0x10, // sleep/normal mode
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MODE1_AI = 0x20, // auto-increment enable
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MODE1_EXTCLK = 0x40, // external clock enable
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MODE1_RESTART = 0x80 // restart status
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} PCA9685_MODE1_T;
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/**
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* MODE2 bits
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*/
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typedef enum { MODE2_OUTNE0 = 0x01, // output driver enable bit 0
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MODE2_OUTNE = 0x02, // output driver enable bit 1
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MODE2_OUTDRV = 0x04, // output open-drain/totem pole
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MODE2_OCH = 0x08, // output change on STOP or ACK
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MODE2_INVRT = 0x10, // output logic state invert
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MODE2_RESERVE0 = 0x20, // reserved
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MODE2_RESERVE1 = 0x40, // reserved
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MODE2_RESERVE2 = 0x80 // reserved
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} PCA9685_MODE2_T;
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/**
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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 Address for this device
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*/
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PCA9685(int bus, uint8_t address = PCA9685_DEFAULT_I2C_ADDR, bool raw = false);
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/**
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* PCA9685 destructor
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*/
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~PCA9685();
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/**
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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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*/
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bool writeByte(uint8_t reg, uint8_t byte);
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/**
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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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*/
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bool writeWord(uint8_t reg, uint16_t word);
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/**
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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 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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* 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 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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* 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 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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* 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 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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* 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 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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* 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 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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* 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 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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* 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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* the sleep mode.
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*
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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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* 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 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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* Enables or disables the restart capability of the controller
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*
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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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* 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, false otherwise
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*/
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bool enableAutoIncrement(bool ai);
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bool m_restartEnabled;
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mraa_i2c_context m_i2c;
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uint8_t m_addr;
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};
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}
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