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351 lines
7.2 KiB
C++
351 lines
7.2 KiB
C++
//
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// FILE: PCA9685.cpp
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// AUTHOR: Rob Tillaart
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// DATE: 24-apr-2016
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// VERSION: 0.4.1
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// PURPOSE: Arduino library for I2C PCA9685 16 channel PWM
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// URL: https://github.com/RobTillaart/PCA9685_RT
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#include "PCA9685.h"
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//////////////////////////////////////////////////////////////
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//
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// Constructor
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//
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PCA9685::PCA9685(const uint8_t deviceAddress, TwoWire *wire)
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{
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_address = deviceAddress;
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_wire = wire;
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_channelCount = 16;
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_error = PCA9685_OK;
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}
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#if defined (ESP8266) || defined(ESP32)
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bool PCA9685::begin(uint8_t sda, uint8_t scl, uint8_t mode1_mask, uint8_t mode2_mask)
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{
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_wire = &Wire;
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if ((sda < 255) && (scl < 255))
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{
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_wire->begin(sda, scl);
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} else {
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_wire->begin();
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}
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if (! isConnected()) return false;
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configure(mode1_mask, mode2_mask);
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return true;
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}
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#endif
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bool PCA9685::begin(uint8_t mode1_mask, uint8_t mode2_mask)
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{
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_wire->begin();
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if (! isConnected()) return false;
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configure(mode1_mask, mode2_mask);
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return true;
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}
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bool PCA9685::isConnected()
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{
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_wire->beginTransmission(_address);
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_error = _wire->endTransmission();
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return (_error == 0);
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}
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void PCA9685::configure(uint8_t mode1_mask, uint8_t mode2_mask)
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{
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_error = PCA9685_OK;
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setMode1(mode1_mask);
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setMode2(mode2_mask);
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}
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uint8_t PCA9685::writeMode(uint8_t reg, uint8_t value)
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{
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if ((reg == PCA9685_MODE1) || (reg == PCA9685_MODE2))
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{
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writeReg(reg, value);
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return PCA9685_OK;
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}
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_error = PCA9685_ERR_MODE;
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return PCA9685_ERROR;
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}
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uint8_t PCA9685::readMode(uint8_t reg)
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{
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if ((reg == PCA9685_MODE1) || (reg == PCA9685_MODE2))
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{
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_error = PCA9685_OK;
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uint8_t value = readReg(reg);
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return value;
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}
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_error = PCA9685_ERR_MODE;
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return PCA9685_ERROR;
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}
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// write value to single PWM channel
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void PCA9685::setPWM(uint8_t channel, uint16_t onTime, uint16_t offTime)
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{
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_error = PCA9685_OK;
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if (channel >= _channelCount)
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{
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_error = PCA9685_ERR_CHANNEL;
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return;
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}
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offTime &= 0x0FFFF; // non-doc feature - to easy set figure 8 P.17
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uint8_t reg = PCA9685_CHANNEL(channel);
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writeReg2(reg, onTime, offTime);
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}
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// write value to single PWM channel
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void PCA9685::setPWM(uint8_t channel, uint16_t offTime)
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{
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setPWM(channel, 0, offTime);
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}
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// read value from single PWM channel
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void PCA9685::getPWM(uint8_t channel, uint16_t* onTime, uint16_t* offTime)
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{
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_error = PCA9685_OK;
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if (channel >= _channelCount)
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{
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_error = PCA9685_ERR_CHANNEL;
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return;
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}
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uint8_t reg = PCA9685_CHANNEL(channel);
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_wire->beginTransmission(_address);
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_wire->write(reg);
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_error = _wire->endTransmission();
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if (_wire->requestFrom(_address, (uint8_t)4) != 4)
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{
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_error = PCA9685_ERR_I2C;
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return;
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}
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uint16_t _data = _wire->read();
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*onTime = (_wire->read() * 256) + _data;
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_data = _wire->read();
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*offTime = (_wire->read() * 256) + _data;
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}
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// set update frequency for all channels
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void PCA9685::setFrequency(uint16_t freq, int offset)
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{
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_error = PCA9685_OK;
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_freq = freq;
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// limits frequency see page 25 datasheet
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if (_freq < PCA9685_MIN_FREQ) _freq = PCA9685_MIN_FREQ;
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if (_freq > PCA9685_MAX_FREQ) _freq = PCA9685_MAX_FREQ;
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// removed float operation for speed
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// faster and equal accurate
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// uint8_t scaler = round(25e6 / (_freq * 4096)) - 1;
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uint8_t scaler = 48828 / (_freq * 8) - 1;
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uint8_t mode1 = readMode(PCA9685_MODE1);
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writeMode(PCA9685_MODE1, mode1 | PCA9685_MODE1_SLEEP);
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scaler += offset;
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writeReg(PCA9685_PRE_SCALER, scaler);
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writeMode(PCA9685_MODE1, mode1);
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}
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// returns the actual used frequency.
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// therefore it does not use offset
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int PCA9685::getFrequency(bool cache)
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{
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_error = PCA9685_OK;
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if (cache) return _freq;
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uint8_t scaler = readReg(PCA9685_PRE_SCALER);
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scaler++;
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_freq = 48828 / scaler;
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_freq /= 8;
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return _freq;
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}
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// datasheet P.18 - fig. 9:
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// Note: bit[11-0] ON should NOT equal timer OFF in ON mode
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// in OFF mode it doesn't matter.
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void PCA9685::digitalWrite(uint8_t channel, uint8_t mode)
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{
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_error = PCA9685_OK;
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if (channel >= _channelCount)
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{
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_error = PCA9685_ERR_CHANNEL;
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return;
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}
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uint8_t reg = PCA9685_CHANNEL(channel);
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if (mode != LOW) writeReg2(reg, 0x1000, 0x0000);
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else writeReg2(reg, 0x0000, 0x0000);
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}
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void PCA9685::allOFF()
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{
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_error = PCA9685_OK;
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writeReg(PCA9685_ALL_OFF_H, 0x10);
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}
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int PCA9685::lastError()
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{
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int e = _error;
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_error = PCA9685_OK;
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return e;
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}
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/////////////////////////////////////////////////////
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//
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// SUB CALL - ALL CALL
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//
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bool PCA9685::enableSubCall(uint8_t nr)
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{
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if ((nr == 0) || (nr > 3)) return false;
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uint8_t prev = getMode1();
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uint8_t reg = prev;
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if (nr == 1) reg |= PCA9685_MODE1_SUB1;
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else if (nr == 2) reg |= PCA9685_MODE1_SUB2;
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else reg |= PCA9685_MODE1_SUB3;
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// only update if changed.
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if (reg != prev) setMode1(reg);
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return true;
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}
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bool PCA9685::disableSubCall(uint8_t nr)
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{
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if ((nr == 0) || (nr > 3)) return false;
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uint8_t prev = getMode1();
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uint8_t reg = prev;
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if (nr == 1) reg &= ~PCA9685_MODE1_SUB1;
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else if (nr == 2) reg &= ~PCA9685_MODE1_SUB2;
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else reg &= ~PCA9685_MODE1_SUB3;
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// only update if changed.
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if (reg != prev) setMode1(reg);
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return true;
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}
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bool PCA9685::isEnabledSubCall(uint8_t nr)
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{
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if ((nr == 0) || (nr > 3)) return false;
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uint8_t reg = getMode1();
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if (nr == 1) return (reg & PCA9685_MODE1_SUB1) > 0;
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if (nr == 2) return (reg & PCA9685_MODE1_SUB2) > 0;
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return (reg & PCA9685_MODE1_SUB3) > 0;
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}
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bool PCA9685::setSubCallAddress(uint8_t nr, uint8_t address)
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{
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if ((nr == 0) || (nr > 3)) return false;
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writeReg(PCA9685_SUBADR(nr), address);
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return true;
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}
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uint8_t PCA9685::getSubCallAddress(uint8_t nr)
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{
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if ((nr == 0) || (nr > 3)) return 0;
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uint8_t address = readReg(PCA9685_SUBADR(nr));
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return address;
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}
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bool PCA9685::enableAllCall()
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{
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uint8_t prev = getMode1();
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uint8_t reg = prev | PCA9685_MODE1_ALLCALL;
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// only update if changed.
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if (reg != prev) setMode1(reg);
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return true;
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}
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bool PCA9685::disableAllCall()
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{
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uint8_t prev = getMode1();
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uint8_t reg = prev & ~PCA9685_MODE1_ALLCALL;
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// only update if changed.
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if (reg != prev) setMode1(reg);
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return true;
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}
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bool PCA9685::isEnabledAllCall()
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{
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uint8_t reg = getMode1();
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return reg & PCA9685_MODE1_ALLCALL;
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}
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bool PCA9685::setAllCallAddress(uint8_t address)
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{
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writeReg(PCA9685_ALLCALLADR, address);
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return true;
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}
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uint8_t PCA9685::getAllCallAddress()
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{
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uint8_t address = readReg(PCA9685_ALLCALLADR);
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return address;
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}
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//////////////////////////////////////////////////////////////
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//
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// PRIVATE
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//
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void PCA9685::writeReg(uint8_t reg, uint8_t value)
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{
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_wire->beginTransmission(_address);
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_wire->write(reg);
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_wire->write(value);
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_error = _wire->endTransmission();
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}
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void PCA9685::writeReg2(uint8_t reg, uint16_t a, uint16_t b)
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{
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_wire->beginTransmission(_address);
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_wire->write(reg);
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_wire->write(a & 0xFF);
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_wire->write((a >> 8) & 0x1F);
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_wire->write(b & 0xFF);
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_wire->write((b >> 8) & 0x1F);
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_error = _wire->endTransmission();
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}
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uint8_t PCA9685::readReg(uint8_t reg)
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{
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_wire->beginTransmission(_address);
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_wire->write(reg);
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_error = _wire->endTransmission();
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if (_wire->requestFrom(_address, (uint8_t)1) != 1)
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{
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_error = PCA9685_ERR_I2C;
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return 0;
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}
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uint8_t _data = _wire->read();
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return _data;
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}
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// -- END OF FILE --
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