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113 lines
3.2 KiB
113 lines
3.2 KiB
/*************************************************** |
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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_MS_PWMServoDriver.h> |
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#include <Wire.h> |
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#if defined(ARDUINO_SAM_DUE) |
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#define WIRE Wire1 |
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#else |
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#define WIRE Wire |
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#endif |
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Adafruit_MS_PWMServoDriver::Adafruit_MS_PWMServoDriver(uint8_t addr) { |
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_i2caddr = addr; |
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} |
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void Adafruit_MS_PWMServoDriver::begin(void) { |
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WIRE.begin(); |
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reset(); |
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} |
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void Adafruit_MS_PWMServoDriver::reset(void) { |
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write8(PCA9685_MODE1, 0x0); |
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} |
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void Adafruit_MS_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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freq *= 0.9; // Correct for overshoot in the frequency setting (see issue #11). |
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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_MS_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_MS_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_MS_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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