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Diffstat (limited to 'peripheral/libupm/src/pca9685/pca9685.hpp')
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1 files changed, 320 insertions, 0 deletions
diff --git a/peripheral/libupm/src/pca9685/pca9685.hpp b/peripheral/libupm/src/pca9685/pca9685.hpp new file mode 100644 index 0000000..d7b23cc --- /dev/null +++ b/peripheral/libupm/src/pca9685/pca9685.hpp @@ -0,0 +1,320 @@ +/* + * 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; + }; +} + + |