daily_automated

trunk/Arduino/libraries/Adafruit_MotorShield/utility/Adafruit_PWMServoDriver.cpp

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+/*************************************************** 
+  This is a library for our Adafruit 16-channel PWM & Servo driver
+
+  Pick one up today in the adafruit shop!
+  ------> http://www.adafruit.com/products/815
+
+  These displays 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 and open-source hardware by purchasing 
+  products from Adafruit!
+
+  Written by Limor Fried/Ladyada for Adafruit Industries.  
+  BSD license, all text above must be included in any redistribution
+ ****************************************************/
+
+#include <Adafruit_MS_PWMServoDriver.h>
+#include <Wire.h>
+#if defined(ARDUINO_SAM_DUE)
+ #define WIRE Wire1
+#else
+ #define WIRE Wire
+#endif
+
+
+Adafruit_MS_PWMServoDriver::Adafruit_MS_PWMServoDriver(uint8_t addr) {
+  _i2caddr = addr;
+}
+
+void Adafruit_MS_PWMServoDriver::begin(void) {
+ WIRE.begin();
+ reset();
+}
+
+
+void Adafruit_MS_PWMServoDriver::reset(void) {
+ write8(PCA9685_MODE1, 0x0);
+}
+
+void Adafruit_MS_PWMServoDriver::setPWMFreq(float freq) {
+  //Serial.print("Attempting to set freq ");
+  //Serial.println(freq);
+  
+  freq *= 0.9;  // Correct for overshoot in the frequency setting (see issue #11).
+
+  float prescaleval = 25000000;
+  prescaleval /= 4096;
+  prescaleval /= freq;
+  prescaleval -= 1;
+  //Serial.print("Estimated pre-scale: "); Serial.println(prescaleval);
+  uint8_t prescale = floor(prescaleval + 0.5);
+  //Serial.print("Final pre-scale: "); Serial.println(prescale);  
+  
+  uint8_t oldmode = read8(PCA9685_MODE1);
+  uint8_t newmode = (oldmode&0x7F) | 0x10; // sleep
+  write8(PCA9685_MODE1, newmode); // go to sleep
+  write8(PCA9685_PRESCALE, prescale); // set the prescaler
+  write8(PCA9685_MODE1, oldmode);
+  delay(5);
+  write8(PCA9685_MODE1, oldmode | 0xa1);  //  This sets the MODE1 register to turn on auto increment.
+                                          // This is why the beginTransmission below was not working.
+  //  Serial.print("Mode now 0x"); Serial.println(read8(PCA9685_MODE1), HEX);
+}
+
+void Adafruit_MS_PWMServoDriver::setPWM(uint8_t num, uint16_t on, uint16_t off) {
+  //Serial.print("Setting PWM "); Serial.print(num); Serial.print(": "); Serial.print(on); Serial.print("->"); Serial.println(off);
+
+  WIRE.beginTransmission(_i2caddr);
+#if ARDUINO >= 100
+  WIRE.write(LED0_ON_L+4*num);
+  WIRE.write(on);
+  WIRE.write(on>>8);
+  WIRE.write(off);
+  WIRE.write(off>>8);
+#else
+  WIRE.send(LED0_ON_L+4*num);
+  WIRE.send((uint8_t)on);
+  WIRE.send((uint8_t)(on>>8));
+  WIRE.send((uint8_t)off);
+  WIRE.send((uint8_t)(off>>8));
+#endif
+  WIRE.endTransmission();
+}
+
+uint8_t Adafruit_MS_PWMServoDriver::read8(uint8_t addr) {
+  WIRE.beginTransmission(_i2caddr);
+#if ARDUINO >= 100
+  WIRE.write(addr);
+#else
+  WIRE.send(addr);
+#endif
+  WIRE.endTransmission();
+
+  WIRE.requestFrom((uint8_t)_i2caddr, (uint8_t)1);
+#if ARDUINO >= 100
+  return WIRE.read();
+#else
+  return WIRE.receive();
+#endif
+}
+
+void Adafruit_MS_PWMServoDriver::write8(uint8_t addr, uint8_t d) {
+  WIRE.beginTransmission(_i2caddr);
+#if ARDUINO >= 100
+  WIRE.write(addr);
+  WIRE.write(d);
+#else
+  WIRE.send(addr);
+  WIRE.send(d);
+#endif
+  WIRE.endTransmission();
+}