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95 lines
2.5 KiB
C++
95 lines
2.5 KiB
C++
#pragma once
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//
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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: 0.3.4
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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 "Arduino.h"
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#include "Wire.h"
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#define PCA9685_LIB_VERSION (F("0.3.4"))
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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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#define PCA9685_ERR_I2C 0xFC
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// get/setFrequency()
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#define PCA9685_MIN_FREQ 24
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#define PCA9685_MAX_FREQ 1526
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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, TwoWire *wire = &Wire);
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#if defined (ESP8266) || defined(ESP32)
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bool begin(uint8_t sda, uint8_t scl);
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#endif
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bool begin();
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void reset();
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bool isConnected();
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uint8_t channelCount() { return _channelCount; };
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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 (onTime = 0)
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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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// note: as the frequency is converted to an 8 bit prescaler
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// the frequency set will seldom be exact, but best effort.
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void setFrequency(uint16_t freq, int offset = 0);
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int getFrequency(bool cache = true);
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// set channel HIGH or LOW (effectively no PWM)
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void digitalWrite(uint8_t channel, uint8_t mode);
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// for backwards compatibility; will be removed in future
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void setON(uint8_t channel) { digitalWrite(channel, HIGH); };
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void setOFF(uint8_t channel) { digitalWrite(channel, LOW); };
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// experimental for 0.3.0
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void allOFF();
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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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int _freq = 200; // default PWM frequency - P25 datasheet
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uint8_t _channelCount = 16;
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TwoWire* _wire;
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};
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// -- END OF FILE --
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