C++ API for the PCA9685 16 channel, 12 bit pwm LED controller. More...

Detailed Description

ID: pca9685
Name: 16 Channel, 12 bit pwm LED controller
Category: led motor
Manufacturer: adafruit
Link: http://www.adafruit.com/products/815
Connection: i2c

This controller is also used on the Adafruit Motor Shield v2.3 board to control up to 4 DC motors, 2 step motors and 2 servo motors.

This module was tested with the Adafruit Motor Shield v2.3

  // Instantiate an PCA9685 on I2C bus 0
  upm::PCA9685 *leds = new upm::PCA9685(PCA9685_I2C_BUS, 
                                        PCA9685_DEFAULT_I2C_ADDR);
  // put device to sleep
  leds->setModeSleep(true);
  // setup a period of 50Hz
  leds->setPrescaleFromHz(50);
  
  // wake device up
  leds->setModeSleep(false);
  // Setup a 50% duty cycle -- on time at 0, off time at 2048 (4096 / 2)
  // Set for all channels
  leds->ledOnTime(PCA9685_ALL_LED, 0);
  leds->ledOffTime(PCA9685_ALL_LED, 2048);
  // but, turn channel 3 full off and channel 4 full on
  cout << "Turning channel 3 off, and channel 4 on." << endl;
  cout << "All other channels will be PWM'd at a 50% duty cycle." << endl;
  leds->ledFullOff(3, true);
  leds->ledFullOn(4, true);
  // now, just sleep for 5 seconds, reset channels 3 and 4, and exit.
  cout << "Sleeping for 5 seconds..." << endl;
  sleep(5);
  cout << "Exiting..." << endl;
  // clear the bits we set earlier
  leds->ledFullOff(3, false);
  leds->ledFullOn(4, false);

Public Types
enum	PCA9685_REG_T { REG_MODE1 = 0x00, REG_MODE2 = 0x01, REG_I2C_SA1 = 0x02, REG_I2C_SA2 = 0x03, REG_I2C_SA3 = 0x04, REG_ALLCALL = 0x05, REG_LED0_ON_L = 0x06, REG_LED0_ON_H = 0x07, REG_LED0_OFF_L = 0x08, REG_LED0_OFF_H = 0x09, REG_LED1_ON_L = 0x0a, REG_LED1_ON_H = 0x0b, REG_LED1_OFF_L = 0x0c, REG_LED1_OFF_H = 0x0d, REG_LED2_ON_L = 0x0e, REG_LED2_ON_H = 0x0f, REG_LED2_OFF_L = 0x10, REG_LED2_OFF_H = 0x11, REG_LED3_ON_L = 0x12, REG_LED3_ON_H = 0x13, REG_LED3_OFF_L = 0x14, REG_LED3_OFF_H = 0x15, REG_LED4_ON_L = 0x16, REG_LED4_ON_H = 0x17, REG_LED4_OFF_L = 0x18, REG_LED4_OFF_H = 0x19, REG_LED5_ON_L = 0x1a, REG_LED5_ON_H = 0x1b, REG_LED5_OFF_L = 0x1c, REG_LED5_OFF_H = 0x1d, REG_LED6_ON_L = 0x1e, REG_LED6_ON_H = 0x1f, REG_LED6_OFF_L = 0x20, REG_LED6_OFF_H = 0x21, REG_LED7_ON_L = 0x22, REG_LED7_ON_H = 0x23, REG_LED7_OFF_L = 0x24, REG_LED7_OFF_H = 0x25, REG_LED8_ON_L = 0x26, REG_LED8_ON_H = 0x27, REG_LED8_OFF_L = 0x28, REG_LED8_OFF_H = 0x29, REG_LED9_ON_L = 0x2a, REG_LED9_ON_H = 0x2b, REG_LED9_OFF_L = 0x2c, REG_LED9_OFF_H = 0x2d, REG_LED10_ON_L = 0x2e, REG_LED10_ON_H = 0x2f, REG_LED10_OFF_L = 0x30, REG_LED10_OFF_H = 0x31, REG_LED11_ON_L = 0x32, REG_LED11_ON_H = 0x33, REG_LED11_OFF_L = 0x34, REG_LED11_OFF_H = 0x35, REG_LED12_ON_L = 0x36, REG_LED12_ON_H = 0x37, REG_LED12_OFF_L = 0x38, REG_LED12_OFF_H = 0x39, REG_LED13_ON_L = 0x3a, REG_LED13_ON_H = 0x3b, REG_LED13_OFF_L = 0x3c, REG_LED13_OFF_H = 0x3d, REG_LED14_ON_L = 0x3e, REG_LED14_ON_H = 0x3f, REG_LED14_OFF_L = 0x40, REG_LED14_OFF_H = 0x41, REG_LED15_ON_L = 0x42, REG_LED15_ON_H = 0x43, REG_LED15_OFF_L = 0x44, REG_LED15_OFF_H = 0x45, REG_ALL_LED_ON_L = 0xfa, REG_ALL_LED_ON_H = 0xfb, REG_ALL_LED_OFF_L = 0xfc, REG_ALL_LED_OFF_H = 0xfd, REG_PRESCALE = 0xfe, REG_TESTMODE = 0xff }

enum	PCA9685_MODE1_T { MODE1_ALL_CALL = 0x01, MODE1_SUB3 = 0x02, MODE1_SUB2 = 0x04, MODE1_SUB1 = 0x08, MODE1_SLEEP = 0x10, MODE1_AI = 0x20, MODE1_EXTCLK = 0x40, MODE1_RESTART = 0x80 }

enum	PCA9685_MODE2_T { MODE2_OUTNE0 = 0x01, MODE2_OUTNE = 0x02, MODE2_OUTDRV = 0x04, MODE2_OCH = 0x08, MODE2_INVRT = 0x10, MODE2_RESERVE0 = 0x20, MODE2_RESERVE1 = 0x40, MODE2_RESERVE2 = 0x80 }

Public Member Functions
	PCA9685 (int bus, uint8_t address=PCA9685_DEFAULT_I2C_ADDR)

	~PCA9685 ()

bool	writeByte (uint8_t reg, uint8_t byte)

bool	writeWord (uint8_t reg, uint16_t word)

uint8_t	readByte (uint8_t reg)

uint16_t	readWord (uint8_t reg)

bool	setModeSleep (bool sleep)

bool	ledFullOn (uint8_t led, bool val)

bool	ledFullOff (uint8_t led, bool val)

bool	ledOnTime (uint8_t led, uint16_t time)

bool	ledOffTime (uint8_t led, uint16_t time)

bool	setPrescale (uint8_t prescale)

bool	setPrescaleFromHz (float hz, float oscFreq=PCA9685_INTERNAL_OSC)

bool	enableRestart (bool enabled)

Constructor & Destructor Documentation

PCA9685	(	int	bus,
		uint8_t	address = `PCA9685_DEFAULT_I2C_ADDR`
	)

pca9685 constructor

Parameters

bus	i2c bus to use
address	the address for this device

~PCA9685 ( )

PCA9685 Destructor

Member Function Documentation

bool writeByte	(	uint8_t	reg,
		uint8_t	byte
	)

Write byte value into register

Parameters

reg	register location to write into
byte	byte to write

Returns: true if successful

bool writeWord	(	uint8_t	reg,
		uint16_t	word
	)

Write word value at register. Note, the device must have the auto-increment bit set in the MODE1 register to work.

Parameters

reg	register location to write into
word	word to write

Returns: true if successful

uint8_t readByte ( uint8_t reg )

Read byte value from register

Parameters

reg	register location to read from

Returns: value at specified register

uint16_t readWord ( uint8_t reg )

Read word value from register. Note, the device must have the auto-increment bit set in the MODE1 register to work.

Parameters

reg	register location to read from

Returns: value at specified register

bool setModeSleep ( bool sleep )

Put the device into or out of Sleep mode. The device is always in sleep mode upon power up.

Parameters

sleep true to put into sleep mode, false to take out of sleep mode.

Returns: true if successful

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bool ledFullOn	(	uint8_t	led,
		bool	val
	)

set or clear the FULL ON bit for a given LED

Parameters

led	led number, valid values: 0-15, PCA9685_ALL_LED
val	true to set the bit, false to clear it

Returns: true if successful

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bool ledFullOff	(	uint8_t	led,
		bool	val
	)

set or clear the FULL OFF bit for a given LED. If the FULL ON bit is also set, then FULL OFF has precendence.

Parameters

led	led number, valid values: 0-15, PCA9685_ALL_LED
val	true to set the bit, false to clear it

Returns: true if successful

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bool ledOnTime	(	uint8_t	led,
		uint16_t	time
	)

set the LED on time (0-4095). See the pca9685 datasheet for details.

Parameters

led	led number, valid values: 0-15, PCA9685_ALL_LED
time	the 12 bit value at which point the LED will turn on

Returns: true if successful

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bool ledOffTime	(	uint8_t	led,
		uint16_t	time
	)

set the LED off time (0-4095). See the pca9685 datasheet for details.

Parameters

led	led number, valid values: 0-15, PCA9685_ALL_LED
time	the 12 bit value at which point the LED will turn off

Returns: true if successful

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bool setPrescale ( uint8_t prescale )

set the prescale value. See the pca9685 datasheet for details. The prescale can only be set when the device is in sleep mode.

Parameters

prescale the prescale value

Returns: true if successful

bool setPrescaleFromHz	(	float	hz,
		float	oscFreq = `PCA9685_INTERNAL_OSC`
	)

set the prescale value based on a desired frequency in hz. The prescale can only be set when the device is in sleep mode.

Parameters

hz	the desired frequency in hz
oscFreq	the oscillator frequency, defaul 25Mhz

Returns: true if successful

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bool enableRestart ( bool enabled )

inline

enable or disable the RESTART capability of the controller

Parameters

enabled true to enable restart, false to disable. Default is enabled.

Returns: true if successful

The documentation for this class was generated from the following files:

/var/lib/jenkins/workspace/upm-doc-stable/src/pca9685/pca9685.h
/var/lib/jenkins/workspace/upm-doc-stable/src/pca9685/pca9685.cxx

Detailed Description

Public Types

Public Member Functions

Constructor & Destructor Documentation

Member Function Documentation