111 lines
3.1 KiB
C++
111 lines
3.1 KiB
C++
/***************************************************
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This is a library for our Adafruit 16-channel PWM & Servo driver
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Pick one up today in the adafruit shop!
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------> http://www.adafruit.com/products/815
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These displays use I2C to communicate, 2 pins are required to
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interface. For Arduino UNOs, thats SCL -> Analog 5, SDA -> Analog 4
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Adafruit invests time and resources providing this open source code,
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please support Adafruit and open-source hardware by purchasing
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products from Adafruit!
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Written by Limor Fried/Ladyada for Adafruit Industries.
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BSD license, all text above must be included in any redistribution
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****************************************************/
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#include <Adafruit_PWMServoDriver.h>
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#include <Wire.h>
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#ifdef __AVR__
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#define WIRE Wire
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#else // Arduino Due
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#define WIRE Wire1
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#endif
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Adafruit_PWMServoDriver::Adafruit_PWMServoDriver(uint8_t addr) {
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_i2caddr = addr;
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}
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void Adafruit_PWMServoDriver::begin(void) {
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WIRE.begin();
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reset();
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}
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void Adafruit_PWMServoDriver::reset(void) {
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write8(PCA9685_MODE1, 0x0);
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}
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void Adafruit_PWMServoDriver::setPWMFreq(float freq) {
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//Serial.print("Attempting to set freq ");
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//Serial.println(freq);
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float prescaleval = 25000000;
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prescaleval /= 4096;
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prescaleval /= freq;
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prescaleval -= 1;
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Serial.print("Estimated pre-scale: "); Serial.println(prescaleval);
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uint8_t prescale = floor(prescaleval + 0.5);
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Serial.print("Final pre-scale: "); Serial.println(prescale);
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uint8_t oldmode = read8(PCA9685_MODE1);
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uint8_t newmode = (oldmode&0x7F) | 0x10; // sleep
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write8(PCA9685_MODE1, newmode); // go to sleep
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write8(PCA9685_PRESCALE, prescale); // set the prescaler
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write8(PCA9685_MODE1, oldmode);
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delay(5);
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write8(PCA9685_MODE1, oldmode | 0xa1); // This sets the MODE1 register to turn on auto increment.
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// This is why the beginTransmission below was not working.
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// Serial.print("Mode now 0x"); Serial.println(read8(PCA9685_MODE1), HEX);
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}
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void Adafruit_PWMServoDriver::setPWM(uint8_t num, uint16_t on, uint16_t off) {
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//Serial.print("Setting PWM "); Serial.print(num); Serial.print(": "); Serial.print(on); Serial.print("->"); Serial.println(off);
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WIRE.beginTransmission(_i2caddr);
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#if ARDUINO >= 100
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WIRE.write(LED0_ON_L+4*num);
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WIRE.write(on);
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WIRE.write(on>>8);
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WIRE.write(off);
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WIRE.write(off>>8);
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#else
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WIRE.send(LED0_ON_L+4*num);
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WIRE.send((uint8_t)on);
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WIRE.send((uint8_t)(on>>8));
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WIRE.send((uint8_t)off);
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WIRE.send((uint8_t)(off>>8));
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#endif
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WIRE.endTransmission();
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}
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uint8_t Adafruit_PWMServoDriver::read8(uint8_t addr) {
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WIRE.beginTransmission(_i2caddr);
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#if ARDUINO >= 100
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WIRE.write(addr);
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#else
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WIRE.send(addr);
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#endif
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WIRE.endTransmission();
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WIRE.requestFrom((uint8_t)_i2caddr, (uint8_t)1);
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#if ARDUINO >= 100
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return WIRE.read();
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#else
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return WIRE.receive();
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#endif
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}
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void Adafruit_PWMServoDriver::write8(uint8_t addr, uint8_t d) {
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WIRE.beginTransmission(_i2caddr);
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#if ARDUINO >= 100
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WIRE.write(addr);
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WIRE.write(d);
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#else
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WIRE.send(addr);
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WIRE.send(d);
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#endif
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WIRE.endTransmission();
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}
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