inf sachen
This commit is contained in:
danielvici123
363
INF/libraries/PCA9685/src/PCA9685.h
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363
INF/libraries/PCA9685/src/PCA9685.h
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// ----------------------------------------------------------------------------
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// PCA9685.h
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//
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// Authors:
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// Peter Polidoro peterpolidoro@gmail.com
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// ----------------------------------------------------------------------------
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#ifndef PCA9685_H
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#define PCA9685_H
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#include <Arduino.h>
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#include <Wire.h>
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class PCA9685
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{
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public:
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PCA9685();
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const static uint8_t CHANNELS_PER_DEVICE = 16;
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enum {DEVICE_COUNT_MAX=55};
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// Convenience method when using a single device
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void setupSingleDevice(TwoWire & wire=Wire,
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uint8_t device_address=0x40,
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bool fast_mode_plus=false);
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// Methods for using a single device or multiple devices
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void setupOutputEnablePin(size_t output_enable_pin);
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void enableOutputs(size_t output_enable_pin);
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void disableOutputs(size_t output_enable_pin);
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uint16_t getFrequencyMin();
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uint16_t getFrequencyMax();
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void setToFrequency(uint16_t frequency);
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uint16_t getFrequency();
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void setToServoFrequency();
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uint16_t getServoFrequency();
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uint8_t getChannelCount();
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double getDutyCycleMin();
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double getDutyCycleMax();
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double getPercentDelayMin();
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double getPercentDelayMax();
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void setChannelDutyCycle(uint8_t channel,
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double duty_cycle,
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double percent_delay=0);
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void getChannelDutyCycle(uint8_t channel,
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double & duty_cycle,
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double & percent_delay);
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void setAllChannelsDutyCycle(double duty_cycle,
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double percent_delay=0);
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uint16_t getPulseWidthMin();
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uint16_t getPulseWidthMax();
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uint16_t getPhaseShiftMin();
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uint16_t getPhaseShiftMax();
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void setChannelPulseWidth(uint8_t channel,
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uint16_t pulse_width,
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uint16_t phase_shift=0);
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void getChannelPulseWidth(uint8_t channel,
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uint16_t & pulse_width,
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uint16_t & phase_shift);
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void setAllChannelsPulseWidth(uint16_t pulse_width,
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uint16_t phase_shift=0);
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void setChannelServoPulseDuration(uint8_t channel,
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uint16_t pulse_duration_microseconds);
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void getChannelServoPulseDuration(uint8_t channel,
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uint16_t & pulse_duration_microseconds);
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void setAllChannelsServoPulseDuration(uint16_t pulse_duration_microseconds);
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uint16_t getTimeMin();
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uint16_t getTimeMax();
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void setChannelOnAndOffTime(uint8_t channel,
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uint16_t on_time,
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uint16_t off_time);
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void getChannelOnAndOffTime(uint8_t channel,
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uint16_t & on_time,
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uint16_t & off_time);
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void setAllChannelsOnAndOffTime(uint16_t on_time,
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uint16_t off_time);
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void setChannelOnTime(uint8_t channel,
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uint16_t on_time);
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void getChannelOnTime(uint8_t channel,
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uint16_t & on_time);
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void setAllChannelsOnTime(uint16_t on_time);
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void setChannelOffTime(uint8_t channel,
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uint16_t off_time);
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void getChannelOffTime(uint8_t channel,
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uint16_t & off_time);
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void setAllChannelsOffTime(uint16_t off_time);
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void setOutputsInverted();
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void setOutputsNotInverted();
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void setOutputsToTotemPole();
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void setOutputsToOpenDrain();
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void setOutputsLowWhenDisabled();
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void setOutputsHighWhenDisabled();
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void setOutputsHighImpedanceWhenDisabled();
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// Methods for using multiple devices
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// Take care when using fast_mode_plus with non-PCA9685 devices
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void setWire(TwoWire & wire=Wire,
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bool fast_mode_plus=false);
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// device_address=0x40 when all device address
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// hardware select lines are low
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// cannot use reserved addresses
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void addDevice(uint8_t device_address);
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void resetAllDevices();
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void addDeviceToGroup0(uint8_t device_address);
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void removeDeviceFromGroup0(uint8_t device_address);
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void addDeviceToGroup1(uint8_t device_address);
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void removeDeviceFromGroup1(uint8_t device_address);
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void addDeviceToGroup2(uint8_t device_address);
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void removeDeviceFromGroup2(uint8_t device_address);
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void setSingleDeviceToFrequency(uint8_t device_address,
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uint16_t frequency);
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uint16_t getSingleDeviceFrequency(uint8_t device_address);
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void setAllDevicesToFrequency(uint16_t frequency);
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void setSingleDeviceToServoFrequency(uint8_t device_address);
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uint16_t getSingleDeviceServoFrequency(uint8_t device_address);
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void setAllDevicesToServoFrequency();
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uint8_t getDeviceChannelCount();
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// Use these device address to set more than one device at a time
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// with the methods below
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const static uint8_t DEVICE_ADDRESS_ALL = 0x70;
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const static uint8_t DEVICE_ADDRESS_GROUP0 = 0x71;
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const static uint8_t DEVICE_ADDRESS_GROUP1 = 0x72;
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const static uint8_t DEVICE_ADDRESS_GROUP2 = 0x73;
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void setDeviceChannelDutyCycle(uint8_t device_address,
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uint8_t device_channel,
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double duty_cycle,
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double percent_delay=0);
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void setAllDeviceChannelsDutyCycle(uint8_t device_address,
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double duty_cycle,
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double percent_delay=0);
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void setDeviceChannelPulseWidth(uint8_t device_address,
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uint8_t device_channel,
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uint16_t pulse_width,
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uint16_t phase_shift=0);
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void setAllDeviceChannelsPulseWidth(uint8_t device_address,
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uint16_t pulse_width,
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uint16_t phase_shift=0);
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void setDeviceChannelServoPulseDuration(uint8_t device_address,
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uint8_t device_channel,
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uint16_t pulse_duration_microseconds);
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void setAllDeviceChannelsServoPulseDuration(uint8_t device_address,
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uint16_t pulse_duration_microseconds);
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void setDeviceChannelOnAndOffTime(uint8_t device_address,
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uint8_t device_channel,
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uint16_t on_time,
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uint16_t off_time);
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void setAllDeviceChannelsOnAndOffTime(uint8_t device_address,
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uint16_t on_time,
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uint16_t off_time);
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void setDeviceChannelOnTime(uint8_t device_address,
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uint8_t device_channel,
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uint16_t on_time);
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void setAllDeviceChannelsOnTime(uint8_t device_address,
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uint16_t on_time);
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void setDeviceChannelOffTime(uint8_t device_address,
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uint8_t device_channel,
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uint16_t off_time);
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void setAllDeviceChannelsOffTime(uint8_t device_address,
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uint16_t off_time);
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void setSingleDeviceOutputsInverted(uint8_t device_address);
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void setAllDevicesOutputsInverted();
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void setSingleDeviceOutputsNotInverted(uint8_t device_address);
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void setAllDevicesOutputsNotInverted();
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void setSingleDeviceOutputsToTotemPole(uint8_t device_address);
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void setAllDevicesOutputsToTotemPole();
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void setSingleDeviceOutputsToOpenDrain(uint8_t device_address);
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void setAllDevicesOutputsToOpenDrain();
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void setSingleDeviceOutputsLowWhenDisabled(uint8_t device_address);
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void setAllDevicesOutputsLowWhenDisabled();
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void setSingleDeviceOutputsHighWhenDisabled(uint8_t device_address);
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void setAllDevicesOutputsHighWhenDisabled();
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void setSingleDeviceOutputsHighImpedanceWhenDisabled(uint8_t device_address);
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void setAllDevicesOutputsHighImpedanceWhenDisabled();
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private:
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const static uint8_t DEVICE_ADDRESS_MIN = 0x40;
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const static uint8_t DEVICE_ADDRESS_MAX = 0x7B;
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uint8_t device_count_;
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uint8_t device_addresses_[DEVICE_COUNT_MAX];
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TwoWire * wire_ptr_;
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const static long FAST_MODE_PLUS_CLOCK_FREQUENCY = 1000000;
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const static int NO_OUTPUT_ENABLE_PIN = -1;
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const static int DEVICE_INDEX_NONE = -1;
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const static int DEVICE_INDEX_ALL = -2;
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const static int DEVICE_INDEX_GROUP0 = -3;
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const static int DEVICE_INDEX_GROUP1 = -4;
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const static int DEVICE_INDEX_GROUP2 = -5;
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int deviceAddressToDeviceIndex(uint8_t device_address);
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const static uint8_t GENERAL_CALL_DEVICE_ADDRESS = 0x00;
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const static uint8_t SWRST = 0b110;
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// Can write to one or more device at a time
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// so use address rather than index
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template<typename T>
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void write(uint8_t device_address,
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uint8_t register_address,
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T data);
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// Can only read from one device at a time
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// so use index rather than address
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template<typename T>
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void read(uint8_t device_index,
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uint8_t register_address,
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T & data);
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const static uint8_t MODE1_REGISTER_ADDRESS = 0x00;
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union Mode1Register
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{
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struct
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{
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uint8_t allcall : 1;
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uint8_t sub3 : 1;
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uint8_t sub2 : 1;
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uint8_t sub1 : 1;
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uint8_t sleep : 1;
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uint8_t ai : 1;
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uint8_t extclk : 1;
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uint8_t restart : 1;
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} fields;
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uint8_t data;
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};
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Mode1Register readMode1Register(uint8_t device_index);
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const static uint8_t MODE2_REGISTER_ADDRESS = 0x01;
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union Mode2Register
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{
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struct
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{
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uint8_t outne : 2;
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uint8_t outdrv : 1;
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uint8_t och : 1;
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uint8_t invrt : 1;
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uint8_t space : 3;
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} fields;
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uint8_t data;
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};
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Mode2Register readMode2Register(uint8_t device_index);
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void sleep(uint8_t device_index);
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void wake(uint8_t device_index);
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void wakeAll();
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void setPrescale(uint8_t device_index,
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uint8_t prescale);
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void getPrescale(uint8_t device_index,
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uint8_t & prescale);
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uint8_t frequencyToPrescale(uint16_t frequency);
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uint16_t prescaleToFrequency(uint8_t prescale);
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uint8_t channelToDeviceIndex(uint8_t channel);
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uint8_t channelToDeviceChannel(uint8_t channel);
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void dutyCycleAndPercentDelayToPulseWidthAndPhaseShift(double duty_cycle,
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double percent_delay,
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uint16_t & pulse_width,
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uint16_t & phase_shift);
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void pulseWidthAndPhaseShiftToDutyCycleAndPercentDelay(uint16_t pulse_width,
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uint16_t phase_shift,
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double & duty_cycle,
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double & percent_delay);
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void pulseWidthAndPhaseShiftToOnTimeAndOffTime(uint16_t pulse_width,
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uint16_t phase_shift,
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uint16_t & on_time,
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uint16_t & off_time);
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void onTimeAndOffTimeToPulseWidthAndPhaseShift(uint16_t on_time,
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uint16_t off_time,
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uint16_t & pulse_width,
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uint16_t & phase_shift);
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void servoPulseDurationToPulseWidthAndPhaseShift(uint16_t pulse_duration_microseconds,
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uint16_t & pulse_width,
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uint16_t & phase_shift);
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void pulseWidthAndPhaseShiftToServoPulseDuration(uint16_t pulse_width,
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uint16_t phase_shift,
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uint16_t & pulse_duration_microseconds);
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void setOutputsInverted(uint8_t device_index);
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void setOutputsNotInverted(uint8_t device_index);
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void setOutputsToTotemPole(uint8_t device_index);
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void setOutputsToOpenDrain(uint8_t device_index);
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void setOutputsLowWhenDisabled(uint8_t device_index);
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void setOutputsHighWhenDisabled(uint8_t device_index);
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void setOutputsHighImpedanceWhenDisabled(uint8_t device_index);
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const static uint8_t DOES_NOT_RESPOND = 0;
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const static uint8_t DOES_RESPOND = 1;
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const static uint8_t SUBADR1_REGISTER_ADDRESS = 0x02;
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const static uint8_t SUBADR2_REGISTER_ADDRESS = 0x03;
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const static uint8_t SUBADR3_REGISTER_ADDRESS = 0x04;
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const static uint8_t ALLCALLADR_REGISTER_ADDRESS = 0x05;
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const static uint8_t LED0_ON_L_REGISTER_ADDRESS = 0x06;
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const static uint8_t LED0_OFF_L_REGISTER_ADDRESS = 0x08;
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const static uint8_t ALL_LED_ON_L_REGISTER_ADDRESS = 0xFA;
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const static uint8_t ALL_LED_OFF_L_REGISTER_ADDRESS = 0xFC;
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const static uint8_t LED_REGISTERS_SIZE = 4;
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const static uint8_t BITS_PER_BYTE = 8;
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const static uint8_t BITS_PER_TWO_BYTES = 16;
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const static uint8_t BYTE_MAX = 0xFF;
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const static uint16_t TWO_BYTE_MAX = 0xFFFF;
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const static uint8_t PRE_SCALE_REGISTER_ADDRESS = 0xFE;
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const static uint8_t PRE_SCALE_MIN = 0x03;
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const static uint8_t PRE_SCALE_MAX = 0xFF;
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// Use period instead of frequency to calculate prescale since it is linear
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// Measured 1620 Hz at prescale value 0x03, 1E6/1620=617
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// Datasheet says it should be 1526 Hz, 1E6/1526=655
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const static uint16_t PWM_PERIOD_MIN_US = 617;
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// Measured 25.3 Hz at prescale value 0xFF, 1E6/25.3=39525
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// Datasheet says it should be 24 Hz, 1E6/24=41666
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const static uint16_t PWM_PERIOD_MAX_US = 39525;
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const static uint32_t MICROSECONDS_PER_SECOND = 1000000;
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const static uint8_t OUTPUTS_INVERTED = 1;
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const static uint8_t OUTPUTS_NOT_INVERTED = 0;
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const static uint8_t OUTPUTS_TOTEM_POLE = 1;
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const static uint8_t OUTPUTS_OPEN_DRAIN = 0;
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const static uint8_t OUTPUTS_LOW_WHEN_DISABLED = 0b00;
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const static uint8_t OUTPUTS_HIGH_WHEN_DISABLED = 0b01;
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const static uint8_t OUTPUTS_HIGH_IMPEDANCE_WHEN_DISABLED = 0b10;
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const static uint8_t SLEEP = 1;
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const static uint8_t WAKE = 0;
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const static uint8_t AUTO_INCREMENT_ENABLED = 1;
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const static uint8_t AUTO_INCREMENT_DISABLED = 0;
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const static uint8_t RESTART_ENABLED = 1;
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const static uint8_t RESTART_DISABLED = 0;
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const static uint8_t RESTART_CLEAR = 1;
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const static uint16_t TIME_MIN = 0;
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const static uint16_t TIME_MAX = 4096;
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const static uint8_t PERCENT_MIN = 0;
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const static uint8_t PERCENT_MAX = 100;
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const static uint16_t SERVO_FREQUENCY = 50;
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const static uint16_t SERVO_PERIOD_MICROSECONDS = 20000;
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};
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#include "PCA9685/PCA9685Definitions.h"
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#endif
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