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Adafruit_PWMServoDriver.h
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Adafruit_PWMServoDriver.h
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/*!
* @file Adafruit_PWMServoDriver.h
*
* This is a library for our Adafruit 16-channel PWM & Servo driver.
*
* Designed specifically to work with the Adafruit 16-channel PWM & Servo
* driver.
*
* Pick one up today in the adafruit shop!
* ------> https://www.adafruit.com/product/815
*
* These driver use I2C to communicate, 2 pins are required to interface.
* For Arduino UNOs, thats SCL -> Analog 5, SDA -> Analog 4.
*
* Adafruit invests time and resources providing this open source code,
* please support Adafruit andopen-source hardware by purchasing products
* from Adafruit!
*
* Limor Fried/Ladyada (Adafruit Industries).
*
* BSD license, all text above must be included in any redistribution
*/
#ifndef _ADAFRUIT_PWMServoDriver_H
#define _ADAFRUIT_PWMServoDriver_H
#include <Arduino.h>
#include <Wire.h>
// REGISTER ADDRESSES
#define PCA9685_MODE1 0x00 /**< Mode Register 1 */
#define PCA9685_MODE2 0x01 /**< Mode Register 2 */
#define PCA9685_SUBADR1 0x02 /**< I2C-bus subaddress 1 */
#define PCA9685_SUBADR2 0x03 /**< I2C-bus subaddress 2 */
#define PCA9685_SUBADR3 0x04 /**< I2C-bus subaddress 3 */
#define PCA9685_ALLCALLADR 0x05 /**< LED All Call I2C-bus address */
#define PCA9685_LED0_ON_L 0x06 /**< LED0 on tick, low byte*/
#define PCA9685_LED0_ON_H 0x07 /**< LED0 on tick, high byte*/
#define PCA9685_LED0_OFF_L 0x08 /**< LED0 off tick, low byte */
#define PCA9685_LED0_OFF_H 0x09 /**< LED0 off tick, high byte */
// etc all 16: LED15_OFF_H 0x45
#define PCA9685_ALLLED_ON_L 0xFA /**< load all the LEDn_ON registers, low */
#define PCA9685_ALLLED_ON_H 0xFB /**< load all the LEDn_ON registers, high */
#define PCA9685_ALLLED_OFF_L 0xFC /**< load all the LEDn_OFF registers, low */
#define PCA9685_ALLLED_OFF_H 0xFD /**< load all the LEDn_OFF registers,high */
#define PCA9685_PRESCALE 0xFE /**< Prescaler for PWM output frequency */
#define PCA9685_TESTMODE 0xFF /**< defines the test mode to be entered */
// MODE1 bits
#define MODE1_ALLCAL 0x01 /**< respond to LED All Call I2C-bus address */
#define MODE1_SUB3 0x02 /**< respond to I2C-bus subaddress 3 */
#define MODE1_SUB2 0x04 /**< respond to I2C-bus subaddress 2 */
#define MODE1_SUB1 0x08 /**< respond to I2C-bus subaddress 1 */
#define MODE1_SLEEP 0x10 /**< Low power mode. Oscillator off */
#define MODE1_AI 0x20 /**< Auto-Increment enabled */
#define MODE1_EXTCLK 0x40 /**< Use EXTCLK pin clock */
#define MODE1_RESTART 0x80 /**< Restart enabled */
// MODE2 bits
#define MODE2_OUTNE_0 0x01 /**< Active LOW output enable input */
#define MODE2_OUTNE_1 \
0x02 /**< Active LOW output enable input - high impedience */
#define MODE2_OUTDRV 0x04 /**< totem pole structure vs open-drain */
#define MODE2_OCH 0x08 /**< Outputs change on ACK vs STOP */
#define MODE2_INVRT 0x10 /**< Output logic state inverted */
#define PCA9685_I2C_ADDRESS 0x40 /**< Default PCA9685 I2C Slave Address */
#define FREQUENCY_OSCILLATOR 25000000 /**< Int. osc. frequency in datasheet */
#define PCA9685_PRESCALE_MIN 3 /**< minimum prescale value */
#define PCA9685_PRESCALE_MAX 255 /**< maximum prescale value */
/*!
* @brief Class that stores state and functions for interacting with PCA9685
* PWM chip
*/
class Adafruit_PWMServoDriver {
public:
Adafruit_PWMServoDriver();
Adafruit_PWMServoDriver(const uint8_t addr);
Adafruit_PWMServoDriver(const uint8_t addr, TwoWire &i2c);
void begin(uint8_t prescale = 0);
void reset();
void sleep();
void wakeup();
void setExtClk(uint8_t prescale);
void setPWMFreq(float freq);
void setOutputMode(bool totempole);
uint8_t getPWM(uint8_t num);
void setPWM(uint8_t num, uint16_t on, uint16_t off);
void setPin(uint8_t num, uint16_t val, bool invert = false);
uint8_t readPrescale(void);
void writeMicroseconds(uint8_t num, uint16_t Microseconds);
void setOscillatorFrequency(uint32_t freq);
uint32_t getOscillatorFrequency(void);
private:
uint8_t _i2caddr;
TwoWire *_i2c;
uint32_t _oscillator_freq;
uint8_t read8(uint8_t addr);
void write8(uint8_t addr, uint8_t d);
};
#endif