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69 lines
1.5 KiB
C++
69 lines
1.5 KiB
C++
//
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// FILE: PCA9685.H
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// AUTHOR: Rob Tillaart
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// DATE: 24-apr-2016
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// VERSION: 0.1.1
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// PURPOSE: I2C PCA9685 library for Arduino
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// URL: https://github.com/RobTillaart/Arduino/tree/master/libraries
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//
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// HISTORY:
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// see PCA9685.cpp file
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//
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#ifndef _PCA9685_H
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#define _PCA9685_H
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#include "Arduino.h"
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#define PCA9685_LIB_VERSION "0.1.1"
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// ERROR CODES
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#define PCA9685_OK 0x00
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#define PCA9685_ERROR 0xFF
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#define PCA9685_ERR_CHANNEL 0xFE
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#define PCA9685_ERR_MODE 0xFD
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class PCA9685
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{
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public:
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explicit PCA9685(const uint8_t deviceAddress);
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void begin();
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// reg = 1, 2 check datasheet for values
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void writeMode(uint8_t reg, uint8_t value);
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uint8_t readMode(uint8_t reg);
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// single PWM setting, channel = 0..15,
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// onTime = 0..4095, offTime = 0..4095
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// allows shifted PWM's e.g. 2 servo's that do not start at same time.
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void setPWM(uint8_t channel, uint16_t onTime, uint16_t offTime);
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void getPWM(uint8_t channel, uint16_t* onTime, uint16_t* offTime);
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// single PWM setting, channel = 0..15, offTime = 0..4095
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void setPWM(uint8_t channel, uint16_t offTime);
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// set update frequency for all channels
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// freq = 24-1526 Hz
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void setFrequency(uint16_t freq);
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void setON(uint8_t channel);
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void setOFF(uint8_t channel);
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int lastError();
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private:
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// DIRECT CONTROL
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void writeReg(uint8_t reg, uint8_t value);
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void writeReg2(uint8_t reg, uint16_t a, uint16_t b);
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uint8_t readReg(uint8_t reg);
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uint8_t _address;
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int _error;
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};
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#endif
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//
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// END OF FILE
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//
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