mirror of
https://github.com/brendanhaines/RasPi.git
synced 2024-11-10 00:54:40 -07:00
86 lines
2.6 KiB
C++
86 lines
2.6 KiB
C++
/*
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* PCA9685.cpp
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*/
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#include "PCA9685.h"
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#include "PCA9685_Addresses.h"
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;
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#include <iostream>
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#include "wiringPi.h"
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#include "wiringPiI2C.h"
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PCA9685::PCA9685()
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{
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PCA9685( PCA9685_DEFAULT_ADDRESS );
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}
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PCA9685::PCA9685( int devAddr )
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{
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i2cFileHandle = wiringPiI2CSetup( devAddr ); // parameter is dependent on board revision
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if( i2cFileHandle < 0 )
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{
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std::cerr << "failed to open i2c" << std::endl;
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}
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setAllPwm( 0, 0 );
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std::cout << "all pwm set to o" << std::endl;
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_MODE2, PCA9685_OUTDRV );
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_MODE1, PCA9685_ALLCALL );
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delay( 5 );
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int mode1 = wiringPiI2CReadReg8( i2cFileHandle, PCA9685_MODE1 );
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mode1 = mode1 & ~PCA9685_SLEEP; // set sleep bit (to wake)
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_MODE1, mode1 );
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delay( 5 );
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}
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void PCA9685::setFrequency( int hertz )
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{
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double preScale;
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int oldMode, newMode;
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preScale = 25000000; // 25Mhz
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preScale /= 4096; // 12 bit
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preScale /= hertz;
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preScale -= 1; // fencepost
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std::cout << "setting pwm frequency to: " << hertz << " hertz" << std::endl;
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std::cout << "estimate preScale: " << preScale << std::endl;
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preScale += 0.5;
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std::cout << "final preScale: " << (int) preScale << std::endl;
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oldMode = wiringPiI2CReadReg8( i2cFileHandle, PCA9685_MODE1 );
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newMode = ( oldMode & 0x7F ) | PCA9685_SLEEP; // set sleep bit (to sleep)
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_MODE1, newMode ); // go to sleep
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_PRE_SCALE, (int) preScale );
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_MODE1, oldMode ); // wake back up
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delay( 5 );
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_MODE1, oldMode | PCA9685_RESTART ); // set restart bit
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delay( 5 ); // wait for restart
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}
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void PCA9685::setPwm( int channel, int on, int off )
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{
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_LED0_ON_L + 4*channel, on & 0xFF );
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_LED0_ON_H + 4*channel, on >> 8 );
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_LED0_OFF_L + 4*channel, off & 0xFF );
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_LED0_OFF_H + 4*channel, off >> 8 );
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}
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void PCA9685::setAllPwm( int on, int off )
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{
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_ALL_LED_ON_L, on & 0xFF );
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_ALL_LED_ON_H, on >> 8 );
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_ALL_LED_OFF_L, on & 0xFF );
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_ALL_LED_OFF_H, on >> 8);
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}
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