Inheritance diagram for PCA9685:

Collaboration diagram for PCA9685:

Public Member Functions
	PCA9685 (int bus=PCA9685_BUS, uint8_t address=ADDR)

virtual	~PCA9685 ()=default

virtual int	init ()

virtual int	ioctl (struct file *filp, int cmd, unsigned long arg)

virtual int	info ()

virtual int	reset ()

bool	is_running ()

Private Member Functions
void	Run () override
	Set to true after the first call of i2cpwm in mode IOX_MODE_ON. More...

int	setPWMFreq (float freq)
	Helper function to set the pwm frequency. More...

int	setPWM (uint8_t num, uint16_t on, uint16_t off)
	Helper function to set the demanded pwm value. More...

int	setPin (uint8_t num, uint16_t val, bool invert=false)
	Sets pin without having to deal with on/off tick placement and properly handles a zero value as completely off. More...

int	read8 (uint8_t addr, uint8_t &value)

int	write8 (uint8_t addr, uint8_t value)

Private Attributes
enum IOX_MODE	_mode

bool	_running

uint64_t	_i2cpwm_interval

bool	_should_run

perf_counter_t	_comms_errors

uint8_t	_msg [6]

int	_actuator_controls_sub

struct actuator_controls_s	_actuator_controls

uint16_t	_current_values [actuator_controls_s::NUM_ACTUATOR_CONTROLS]
	stores the current pwm output values as sent to the setPin() More...

bool	_mode_on_initialized

Detailed Description

Definition at line 114 of file pca9685.cpp.

Constructor & Destructor Documentation

◆ PCA9685()

PCA9685::PCA9685	(	int	bus = `PCA9685_BUS`,
		uint8_t	address = `ADDR`
	)

Definition at line 185 of file pca9685.cpp.

References _current_values, and _msg.

Referenced by pca9685_main().

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◆ ~PCA9685()

virtual PCA9685::~PCA9685 ( )

virtualdefault

Member Function Documentation

◆ info()

int PCA9685::info ( )

virtual

Definition at line 272 of file pca9685.cpp.

References _mode, is_running(), OK, and warnx.

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◆ init()

int PCA9685::init ( )

virtual

Definition at line 202 of file pca9685.cpp.

References ToneAlarmInterface::init(), OK, PCA9685_PWMFREQ, reset(), and setPWMFreq().

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◆ ioctl()

int PCA9685::ioctl	(	struct file *	filp,
		int	cmd,
		unsigned long	arg
	)

virtual

Definition at line 223 of file pca9685.cpp.

References _mode, _running, IOX_MODE_OFF, IOX_MODE_ON, IOX_MODE_TEST_OUT, IOX_SET_MODE, OK, and warnx.

Referenced by pca9685_main().

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◆ is_running()

bool PCA9685::is_running ( )

inline

Definition at line 125 of file pca9685.cpp.

Referenced by info().

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◆ read8()

int PCA9685::read8	(	uint8_t	addr,
		uint8_t &	value
	)

private

Definition at line 459 of file pca9685.cpp.

References _comms_errors, DEVICE_LOG, OK, and perf_count().

Referenced by setPWMFreq().

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◆ reset()

int PCA9685::reset ( void )

virtual

Definition at line 486 of file pca9685.cpp.

References PCA9685_MODE1, warnx, and write8().

Referenced by init().

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◆ Run()

void PCA9685::Run ( )

overrideprivate

Set to true after the first call of i2cpwm in mode IOX_MODE_ON.

Main loop function.

Definition at line 290 of file pca9685.cpp.

References _actuator_controls, _actuator_controls_sub, _current_values, _i2cpwm_interval, _mode, _mode_on_initialized, _running, _should_run, actuator_controls_s::control, DEVICE_DEBUG, f(), IOX_MODE_OFF, IOX_MODE_TEST_OUT, M_PI_F, orb_check(), orb_copy(), ORB_ID, orb_set_interval(), orb_subscribe(), PCA9685_PWMCENTER, PCA9685_PWMFREQ, PCA9685_PWMMAX, PCA9685_PWMMIN, PCA9685_SCALE, and setPin().

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◆ setPin()

int PCA9685::setPin	(	uint8_t	num,
		uint16_t	val,
		bool	invert = `false`
	)

private

Sets pin without having to deal with on/off tick placement and properly handles a zero value as completely off.

Optional invert parameter supports inverting the pulse for sinking to ground.

Parameters

num	pwm output number
val	should be a value from 0 to 4095 inclusive.

Definition at line 371 of file pca9685.cpp.

References setPWM().

Referenced by Run().

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◆ setPWM()

int PCA9685::setPWM	(	uint8_t	num,
		uint16_t	on,
		uint16_t	off
	)

private

Helper function to set the demanded pwm value.

Parameters

num	pwm output number

Definition at line 349 of file pca9685.cpp.

References _comms_errors, _msg, DEVICE_LOG, LED0_ON_L, OK, and perf_count().

Referenced by setPin().

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◆ setPWMFreq()

int PCA9685::setPWMFreq ( float freq )

private

Helper function to set the pwm frequency.

Definition at line 409 of file pca9685.cpp.

References f(), OK, PCA9685_MODE1, PCA9685_PRESCALE, read8(), and write8().

Referenced by init().

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◆ write8()

int PCA9685::write8	(	uint8_t	addr,
		uint8_t	value
	)

private

Definition at line 494 of file pca9685.cpp.

References _comms_errors, _msg, DEVICE_LOG, OK, and perf_count().

Referenced by reset(), and setPWMFreq().

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Member Data Documentation

◆ _actuator_controls

struct actuator_controls_s PCA9685::_actuator_controls

private

Definition at line 138 of file pca9685.cpp.

Referenced by Run().

◆ _actuator_controls_sub

int PCA9685::_actuator_controls_sub

private

Definition at line 137 of file pca9685.cpp.

Referenced by Run().

◆ _comms_errors

perf_counter_t PCA9685::_comms_errors

private

Definition at line 133 of file pca9685.cpp.

Referenced by read8(), setPWM(), and write8().

◆ _current_values

uint16_t PCA9685::_current_values[actuator_controls_s::NUM_ACTUATOR_CONTROLS]

private

stores the current pwm output values as sent to the setPin()

Definition at line 139 of file pca9685.cpp.

Referenced by PCA9685(), and Run().

◆ _i2cpwm_interval

uint64_t PCA9685::_i2cpwm_interval

private

Definition at line 131 of file pca9685.cpp.

Referenced by Run().

◆ _mode

enum IOX_MODE PCA9685::_mode

private

Definition at line 129 of file pca9685.cpp.

Referenced by info(), ioctl(), and Run().

◆ _mode_on_initialized

bool PCA9685::_mode_on_initialized

private

Definition at line 142 of file pca9685.cpp.

Referenced by Run().

◆ _msg

uint8_t PCA9685::_msg[6]

private

Definition at line 135 of file pca9685.cpp.

Referenced by PCA9685(), setPWM(), and write8().

◆ _running

bool PCA9685::_running

private

Definition at line 130 of file pca9685.cpp.

Referenced by ioctl(), and Run().

◆ _should_run

bool PCA9685::_should_run

private

Definition at line 132 of file pca9685.cpp.

Referenced by Run().

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

src/drivers/pca9685/pca9685.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PCA9685()

◆ ~PCA9685()

Member Function Documentation

◆ info()

◆ init()

◆ ioctl()

◆ is_running()

◆ read8()

◆ reset()

◆ Run()

◆ setPin()

◆ setPWM()

◆ setPWMFreq()

◆ write8()

Member Data Documentation

◆ _actuator_controls

◆ _actuator_controls_sub

◆ _comms_errors

◆ _current_values

◆ _i2cpwm_interval

◆ _mode

◆ _mode_on_initialized

◆ _msg

◆ _running

◆ _should_run