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Diffstat (limited to 'peripheral/libupm/src/pca9685/pca9685.h')
| -rw-r--r-- | peripheral/libupm/src/pca9685/pca9685.h | 320 |
1 files changed, 0 insertions, 320 deletions
diff --git a/peripheral/libupm/src/pca9685/pca9685.h b/peripheral/libupm/src/pca9685/pca9685.h deleted file mode 100644 index d7b23cc..0000000 --- a/peripheral/libupm/src/pca9685/pca9685.h +++ /dev/null @@ -1,320 +0,0 @@ -/* - * Author: Jon Trulson <jtrulson@ics.com> - * Copyright (c) 2015 Intel Corporation. - * - * Permission is hereby granted, free of charge, to any person obtaining - * a copy of this software and associated documentation files (the - * "Software"), to deal in the Software without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Software, and to - * permit persons to whom the Software is furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be - * included in all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND - * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE - * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION - * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION - * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - */ -#pragma once - -#include <string> -#include <mraa/i2c.h> -#include <mraa/gpio.h> - -#define PCA9685_I2C_BUS 0 -#define PCA9685_DEFAULT_I2C_ADDR 0x60 -// internal oscillator frequency -#define PCA9685_INTERNAL_OSC 25000000.0 - -// This is a 'special' LED number, used to refer to the ALL_LED registers -// that affect all LED outputs at once. -#define PCA9685_ALL_LED 0xff - -namespace upm { - - /** - * @brief PCA9685 PWM Controller library - * @defgroup pca9685 libupm-pca9685 - * @ingroup adafruit i2c led motor - */ - /** - * @library pca9685 - * @sensor pca9685 - * @comname PCA9685 PWM Controller - * @type led motor - * @man adafruit - * @web http://www.adafruit.com/products/815 - * @con i2c - * - * @brief API for the PCA9685 16-channel, 12-bit PWM LED Controller - * - * This controller is also used on the Adafruit* Motor Shield v2.3 - * board to control up to 4 DC motors, 2 stepper motors, and 2 servo - * motors. - * - * This module was tested with the Adafruit Motor Shield v2.3 - * - * @image html pca9685.jpg - * @snippet pca9685.cxx Interesting - */ - class PCA9685 { - public: - - /** - * PCA9685 registers - */ - typedef enum { REG_MODE1 = 0x00, - REG_MODE2 = 0x01, - REG_I2C_SA1 = 0x02, // I2C subaddress 1 - REG_I2C_SA2 = 0x03, - REG_I2C_SA3 = 0x04, - REG_ALLCALL = 0x05, // I2C all call address - - // LED output PWM control - REG_LED0_ON_L = 0x06, // LED0 ON low byte - REG_LED0_ON_H = 0x07, // LED0 ON high byte - REG_LED0_OFF_L = 0x08, // LED0 OFF low byte - REG_LED0_OFF_H = 0x09, // LED0 OFF high byte - REG_LED1_ON_L = 0x0a, - REG_LED1_ON_H = 0x0b, - REG_LED1_OFF_L = 0x0c, - REG_LED1_OFF_H = 0x0d, - REG_LED2_ON_L = 0x0e, - REG_LED2_ON_H = 0x0f, - REG_LED2_OFF_L = 0x10, - REG_LED2_OFF_H = 0x11, - REG_LED3_ON_L = 0x12, - REG_LED3_ON_H = 0x13, - REG_LED3_OFF_L = 0x14, - REG_LED3_OFF_H = 0x15, - REG_LED4_ON_L = 0x16, - REG_LED4_ON_H = 0x17, - REG_LED4_OFF_L = 0x18, - REG_LED4_OFF_H = 0x19, - REG_LED5_ON_L = 0x1a, - REG_LED5_ON_H = 0x1b, - REG_LED5_OFF_L = 0x1c, - REG_LED5_OFF_H = 0x1d, - REG_LED6_ON_L = 0x1e, - REG_LED6_ON_H = 0x1f, - REG_LED6_OFF_L = 0x20, - REG_LED6_OFF_H = 0x21, - REG_LED7_ON_L = 0x22, - REG_LED7_ON_H = 0x23, - REG_LED7_OFF_L = 0x24, - REG_LED7_OFF_H = 0x25, - REG_LED8_ON_L = 0x26, - REG_LED8_ON_H = 0x27, - REG_LED8_OFF_L = 0x28, - REG_LED8_OFF_H = 0x29, - REG_LED9_ON_L = 0x2a, - REG_LED9_ON_H = 0x2b, - REG_LED9_OFF_L = 0x2c, - REG_LED9_OFF_H = 0x2d, - REG_LED10_ON_L = 0x2e, - REG_LED10_ON_H = 0x2f, - REG_LED10_OFF_L = 0x30, - REG_LED10_OFF_H = 0x31, - REG_LED11_ON_L = 0x32, - REG_LED11_ON_H = 0x33, - REG_LED11_OFF_L = 0x34, - REG_LED11_OFF_H = 0x35, - REG_LED12_ON_L = 0x36, - REG_LED12_ON_H = 0x37, - REG_LED12_OFF_L = 0x38, - REG_LED12_OFF_H = 0x39, - REG_LED13_ON_L = 0x3a, - REG_LED13_ON_H = 0x3b, - REG_LED13_OFF_L = 0x3c, - REG_LED13_OFF_H = 0x3d, - REG_LED14_ON_L = 0x3e, - REG_LED14_ON_H = 0x3f, - REG_LED14_OFF_L = 0x40, - REG_LED14_OFF_H = 0x41, - REG_LED15_ON_L = 0x42, - REG_LED15_ON_H = 0x43, - REG_LED15_OFF_L = 0x44, - REG_LED15_OFF_H = 0x45, - // 0x46-0xf9 reserved - - REG_ALL_LED_ON_L = 0xfa, // write all LED ON L - REG_ALL_LED_ON_H = 0xfb, // write all LED ON H - REG_ALL_LED_OFF_L = 0xfc, // write all LED OFF L - REG_ALL_LED_OFF_H = 0xfd, // write all LED OFF H - REG_PRESCALE = 0xfe, - REG_TESTMODE = 0xff // don't use - } PCA9685_REG_T; - - /** - * MODE1 bits - */ - typedef enum { MODE1_ALL_CALL = 0x01, // all call status - MODE1_SUB3 = 0x02, // subcall 3 status - MODE1_SUB2 = 0x04, // subcall 2 status - MODE1_SUB1 = 0x08, // subcall 1 status - MODE1_SLEEP = 0x10, // sleep/normal mode - MODE1_AI = 0x20, // auto-increment enable - MODE1_EXTCLK = 0x40, // external clock enable - MODE1_RESTART = 0x80 // restart status - } PCA9685_MODE1_T; - - /** - * MODE2 bits - */ - typedef enum { MODE2_OUTNE0 = 0x01, // output driver enable bit 0 - MODE2_OUTNE = 0x02, // output driver enable bit 1 - MODE2_OUTDRV = 0x04, // output open-drain/totem pole - MODE2_OCH = 0x08, // output change on STOP or ACK - MODE2_INVRT = 0x10, // output logic state invert - MODE2_RESERVE0 = 0x20, // reserved - MODE2_RESERVE1 = 0x40, // reserved - MODE2_RESERVE2 = 0x80 // reserved - } PCA9685_MODE2_T; - - /** - * PCA9685 constructor - * - * @param bus I2C bus to use - * @param address Address for this device - */ - PCA9685(int bus, uint8_t address = PCA9685_DEFAULT_I2C_ADDR, bool raw = false); - - /** - * PCA9685 destructor - */ - ~PCA9685(); - - /** - * Writes a byte value into a register - * - * @param reg Register location to write into - * @param byte Byte to write - * @return True if successful - */ - bool writeByte(uint8_t reg, uint8_t byte); - - /** - * Writes a word value into a register. Note: the device must have the - * auto-increment bit set in the MODE1 register to work. - * - * @param reg Register location to write into - * @param word Word to write - * @return True if successful - */ - bool writeWord(uint8_t reg, uint16_t word); - - /** - * Reads a byte value from a register - * - * @param reg Register location to read from - * @return Value in a specified register - */ - uint8_t readByte(uint8_t reg); - - /** - * Reads a word value from a register. Note: the device must have the - * auto-increment bit set in the MODE1 register to work. - * - * @param reg Register location to read from - * @return Value in a specified register - */ - uint16_t readWord(uint8_t reg); - - /** - * Puts the device in or out of the sleep mode. The device is always - * in the sleep mode upon power-up. - * - * @param sleep True to put the device in the sleep mode, false to put out - * @return True if successful - */ - bool setModeSleep(bool sleep); - - /** - * Sets or clears the FULL ON bit for a given LED - * - * @param led LED number; valid values are 0-15, PCA9685_ALL_LED - * @param val True to set the bit, false to clear it - * @return True if successful - */ - bool ledFullOn(uint8_t led, bool val); - - /** - * Sets or clears the FULL OFF bit for a given LED. If the FULL ON - * bit is also set, FULL OFF has precedence. - * - * @param led LED number; valid values are 0-15, PCA9685_ALL_LED - * @param val True to set the bit, false to clear it - * @return True if successful - */ - bool ledFullOff(uint8_t led, bool val); - - /** - * Sets the 'LED on' time (0-4,095). See the PCA9685 datasheet for details. - * - * @param led LED number; valid values are 0-15, PCA9685_ALL_LED - * @param time 12-bit value at which point the LED turns on - * @return True if successful - */ - bool ledOnTime(uint8_t led, uint16_t time); - - /** - * Sets the 'LED off' time (0-4,095). See the PCA9685 datasheet for details. - * - * @param led LED number; valid values are 0-15, PCA9685_ALL_LED - * @param time 12-bit value at which point the LED turns off - * @return True if successful - */ - bool ledOffTime(uint8_t led, uint16_t time); - - /** - * Sets the prescale value. See the PCA9685 datasheet for - * details. The prescale can only be set when the device is in - * the sleep mode. - * - * @param prescale Prescale value - * @return True if successful - */ - bool setPrescale(uint8_t prescale); - - /** - * Sets the prescale value based on a desired frequency in Hz. The - * prescale can only be set when the device is in the sleep mode. - * - * @param hz Desired frequency in Hz - * @param oscFreq Oscillator frequency; default is 25 MHz - * @return True if successful - */ - bool setPrescaleFromHz(float hz, - float oscFreq=PCA9685_INTERNAL_OSC); - - /** - * Enables or disables the restart capability of the controller - * - * @param enabled True to enable, false to disable - * It is enabled by default. - */ - void enableRestart(bool enabled) { m_restartEnabled = enabled; }; - - private: - /** - * Enables the I2C register auto-increment. This needs to be enabled - * for write/readWord() to work. The contructor enables this by - * default. - * - * @param ai True to enable, false otherwise - */ - bool enableAutoIncrement(bool ai); - - bool m_restartEnabled; - mraa_i2c_context m_i2c; - uint8_t m_addr; - }; -} - - |