1 /* 2 * Author: Jon Trulson <jtrulson (at) ics.com> 3 * Copyright (c) 2015 Intel Corporation. 4 * 5 * Permission is hereby granted, free of charge, to any person obtaining 6 * a copy of this software and associated documentation files (the 7 * "Software"), to deal in the Software without restriction, including 8 * without limitation the rights to use, copy, modify, merge, publish, 9 * distribute, sublicense, and/or sell copies of the Software, and to 10 * permit persons to whom the Software is furnished to do so, subject to 11 * the following conditions: 12 * 13 * The above copyright notice and this permission notice shall be 14 * included in all copies or substantial portions of the Software. 15 * 16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, 17 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF 18 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 19 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE 20 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION 21 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION 22 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 23 */ 24 #pragma once 25 26 #include <string> 27 #include <mraa/i2c.h> 28 #include <mraa/gpio.h> 29 30 #define PCA9685_I2C_BUS 0 31 #define PCA9685_DEFAULT_I2C_ADDR 0x60 32 // internal oscillator frequency 33 #define PCA9685_INTERNAL_OSC 25000000.0 34 35 // This is a 'special' LED number, used to refer to the ALL_LED registers 36 // that affect all LED outputs at once. 37 #define PCA9685_ALL_LED 0xff 38 39 namespace upm { 40 41 /** 42 * @brief PCA9685 PWM Controller library 43 * @defgroup pca9685 libupm-pca9685 44 * @ingroup adafruit i2c led motor 45 */ 46 /** 47 * @library pca9685 48 * @sensor pca9685 49 * @comname PCA9685 PWM Controller 50 * @type led motor 51 * @man adafruit 52 * @web http://www.adafruit.com/products/815 53 * @con i2c 54 * 55 * @brief API for the PCA9685 16-channel, 12-bit PWM LED Controller 56 * 57 * This controller is also used on the Adafruit* Motor Shield v2.3 58 * board to control up to 4 DC motors, 2 stepper motors, and 2 servo 59 * motors. 60 * 61 * This module was tested with the Adafruit Motor Shield v2.3 62 * 63 * @image html pca9685.jpg 64 * @snippet pca9685.cxx Interesting 65 */ 66 class PCA9685 { 67 public: 68 69 /** 70 * PCA9685 registers 71 */ 72 typedef enum { REG_MODE1 = 0x00, 73 REG_MODE2 = 0x01, 74 REG_I2C_SA1 = 0x02, // I2C subaddress 1 75 REG_I2C_SA2 = 0x03, 76 REG_I2C_SA3 = 0x04, 77 REG_ALLCALL = 0x05, // I2C all call address 78 79 // LED output PWM control 80 REG_LED0_ON_L = 0x06, // LED0 ON low byte 81 REG_LED0_ON_H = 0x07, // LED0 ON high byte 82 REG_LED0_OFF_L = 0x08, // LED0 OFF low byte 83 REG_LED0_OFF_H = 0x09, // LED0 OFF high byte 84 REG_LED1_ON_L = 0x0a, 85 REG_LED1_ON_H = 0x0b, 86 REG_LED1_OFF_L = 0x0c, 87 REG_LED1_OFF_H = 0x0d, 88 REG_LED2_ON_L = 0x0e, 89 REG_LED2_ON_H = 0x0f, 90 REG_LED2_OFF_L = 0x10, 91 REG_LED2_OFF_H = 0x11, 92 REG_LED3_ON_L = 0x12, 93 REG_LED3_ON_H = 0x13, 94 REG_LED3_OFF_L = 0x14, 95 REG_LED3_OFF_H = 0x15, 96 REG_LED4_ON_L = 0x16, 97 REG_LED4_ON_H = 0x17, 98 REG_LED4_OFF_L = 0x18, 99 REG_LED4_OFF_H = 0x19, 100 REG_LED5_ON_L = 0x1a, 101 REG_LED5_ON_H = 0x1b, 102 REG_LED5_OFF_L = 0x1c, 103 REG_LED5_OFF_H = 0x1d, 104 REG_LED6_ON_L = 0x1e, 105 REG_LED6_ON_H = 0x1f, 106 REG_LED6_OFF_L = 0x20, 107 REG_LED6_OFF_H = 0x21, 108 REG_LED7_ON_L = 0x22, 109 REG_LED7_ON_H = 0x23, 110 REG_LED7_OFF_L = 0x24, 111 REG_LED7_OFF_H = 0x25, 112 REG_LED8_ON_L = 0x26, 113 REG_LED8_ON_H = 0x27, 114 REG_LED8_OFF_L = 0x28, 115 REG_LED8_OFF_H = 0x29, 116 REG_LED9_ON_L = 0x2a, 117 REG_LED9_ON_H = 0x2b, 118 REG_LED9_OFF_L = 0x2c, 119 REG_LED9_OFF_H = 0x2d, 120 REG_LED10_ON_L = 0x2e, 121 REG_LED10_ON_H = 0x2f, 122 REG_LED10_OFF_L = 0x30, 123 REG_LED10_OFF_H = 0x31, 124 REG_LED11_ON_L = 0x32, 125 REG_LED11_ON_H = 0x33, 126 REG_LED11_OFF_L = 0x34, 127 REG_LED11_OFF_H = 0x35, 128 REG_LED12_ON_L = 0x36, 129 REG_LED12_ON_H = 0x37, 130 REG_LED12_OFF_L = 0x38, 131 REG_LED12_OFF_H = 0x39, 132 REG_LED13_ON_L = 0x3a, 133 REG_LED13_ON_H = 0x3b, 134 REG_LED13_OFF_L = 0x3c, 135 REG_LED13_OFF_H = 0x3d, 136 REG_LED14_ON_L = 0x3e, 137 REG_LED14_ON_H = 0x3f, 138 REG_LED14_OFF_L = 0x40, 139 REG_LED14_OFF_H = 0x41, 140 REG_LED15_ON_L = 0x42, 141 REG_LED15_ON_H = 0x43, 142 REG_LED15_OFF_L = 0x44, 143 REG_LED15_OFF_H = 0x45, 144 // 0x46-0xf9 reserved 145 146 REG_ALL_LED_ON_L = 0xfa, // write all LED ON L 147 REG_ALL_LED_ON_H = 0xfb, // write all LED ON H 148 REG_ALL_LED_OFF_L = 0xfc, // write all LED OFF L 149 REG_ALL_LED_OFF_H = 0xfd, // write all LED OFF H 150 REG_PRESCALE = 0xfe, 151 REG_TESTMODE = 0xff // don't use 152 } PCA9685_REG_T; 153 154 /** 155 * MODE1 bits 156 */ 157 typedef enum { MODE1_ALL_CALL = 0x01, // all call status 158 MODE1_SUB3 = 0x02, // subcall 3 status 159 MODE1_SUB2 = 0x04, // subcall 2 status 160 MODE1_SUB1 = 0x08, // subcall 1 status 161 MODE1_SLEEP = 0x10, // sleep/normal mode 162 MODE1_AI = 0x20, // auto-increment enable 163 MODE1_EXTCLK = 0x40, // external clock enable 164 MODE1_RESTART = 0x80 // restart status 165 } PCA9685_MODE1_T; 166 167 /** 168 * MODE2 bits 169 */ 170 typedef enum { MODE2_OUTNE0 = 0x01, // output driver enable bit 0 171 MODE2_OUTNE = 0x02, // output driver enable bit 1 172 MODE2_OUTDRV = 0x04, // output open-drain/totem pole 173 MODE2_OCH = 0x08, // output change on STOP or ACK 174 MODE2_INVRT = 0x10, // output logic state invert 175 MODE2_RESERVE0 = 0x20, // reserved 176 MODE2_RESERVE1 = 0x40, // reserved 177 MODE2_RESERVE2 = 0x80 // reserved 178 } PCA9685_MODE2_T; 179 180 /** 181 * PCA9685 constructor 182 * 183 * @param bus I2C bus to use 184 * @param address Address for this device 185 */ 186 PCA9685(int bus, uint8_t address = PCA9685_DEFAULT_I2C_ADDR, bool raw = false); 187 188 /** 189 * PCA9685 destructor 190 */ 191 ~PCA9685(); 192 193 /** 194 * Writes a byte value into a register 195 * 196 * @param reg Register location to write into 197 * @param byte Byte to write 198 * @return True if successful 199 */ 200 bool writeByte(uint8_t reg, uint8_t byte); 201 202 /** 203 * Writes a word value into a register. Note: the device must have the 204 * auto-increment bit set in the MODE1 register to work. 205 * 206 * @param reg Register location to write into 207 * @param word Word to write 208 * @return True if successful 209 */ 210 bool writeWord(uint8_t reg, uint16_t word); 211 212 /** 213 * Reads a byte value from a register 214 * 215 * @param reg Register location to read from 216 * @return Value in a specified register 217 */ 218 uint8_t readByte(uint8_t reg); 219 220 /** 221 * Reads a word value from a register. Note: the device must have the 222 * auto-increment bit set in the MODE1 register to work. 223 * 224 * @param reg Register location to read from 225 * @return Value in a specified register 226 */ 227 uint16_t readWord(uint8_t reg); 228 229 /** 230 * Puts the device in or out of the sleep mode. The device is always 231 * in the sleep mode upon power-up. 232 * 233 * @param sleep True to put the device in the sleep mode, false to put out 234 * @return True if successful 235 */ 236 bool setModeSleep(bool sleep); 237 238 /** 239 * Sets or clears the FULL ON bit for a given LED 240 * 241 * @param led LED number; valid values are 0-15, PCA9685_ALL_LED 242 * @param val True to set the bit, false to clear it 243 * @return True if successful 244 */ 245 bool ledFullOn(uint8_t led, bool val); 246 247 /** 248 * Sets or clears the FULL OFF bit for a given LED. If the FULL ON 249 * bit is also set, FULL OFF has precedence. 250 * 251 * @param led LED number; valid values are 0-15, PCA9685_ALL_LED 252 * @param val True to set the bit, false to clear it 253 * @return True if successful 254 */ 255 bool ledFullOff(uint8_t led, bool val); 256 257 /** 258 * Sets the 'LED on' time (0-4,095). See the PCA9685 datasheet for details. 259 * 260 * @param led LED number; valid values are 0-15, PCA9685_ALL_LED 261 * @param time 12-bit value at which point the LED turns on 262 * @return True if successful 263 */ 264 bool ledOnTime(uint8_t led, uint16_t time); 265 266 /** 267 * Sets the 'LED off' time (0-4,095). See the PCA9685 datasheet for details. 268 * 269 * @param led LED number; valid values are 0-15, PCA9685_ALL_LED 270 * @param time 12-bit value at which point the LED turns off 271 * @return True if successful 272 */ 273 bool ledOffTime(uint8_t led, uint16_t time); 274 275 /** 276 * Sets the prescale value. See the PCA9685 datasheet for 277 * details. The prescale can only be set when the device is in 278 * the sleep mode. 279 * 280 * @param prescale Prescale value 281 * @return True if successful 282 */ 283 bool setPrescale(uint8_t prescale); 284 285 /** 286 * Sets the prescale value based on a desired frequency in Hz. The 287 * prescale can only be set when the device is in the sleep mode. 288 * 289 * @param hz Desired frequency in Hz 290 * @param oscFreq Oscillator frequency; default is 25 MHz 291 * @return True if successful 292 */ 293 bool setPrescaleFromHz(float hz, 294 float oscFreq=PCA9685_INTERNAL_OSC); 295 296 /** 297 * Enables or disables the restart capability of the controller 298 * 299 * @param enabled True to enable, false to disable 300 * It is enabled by default. 301 */ 302 void enableRestart(bool enabled) { m_restartEnabled = enabled; }; 303 304 private: 305 /** 306 * Enables the I2C register auto-increment. This needs to be enabled 307 * for write/readWord() to work. The contructor enables this by 308 * default. 309 * 310 * @param ai True to enable, false otherwise 311 */ 312 bool enableAutoIncrement(bool ai); 313 314 bool m_restartEnabled; 315 mraa_i2c_context m_i2c; 316 uint8_t m_addr; 317 }; 318 } 319 320 321
