Main class that exports features for PCA9685 chip. More...

#include <PCA9685.h>

Inheritance diagram for linux_pwm_out::PCA9685:

Collaboration diagram for linux_pwm_out::PCA9685:

Public Member Functions
	PCA9685 ()

	PCA9685 (int bus, int address)
	Constructor takes bus and address arguments. More...

int	init () override

int	send_output_pwm (const uint16_t *pwm, int num_outputs) override

int	init (int bus, int address)

virtual	~PCA9685 ()

void	reset ()
	Sets PCA9685 mode to 00. More...

void	setPWMFreq (int freq)
	Set the frequency of PWM. More...

void	setPWM (uint8_t channel, int on_value, int off_value)
	PWM a single channel with custom on time. More...

void	setPWM (uint8_t channel, int value)
	send pwm value to led(channel), value should be range of 0-4095 More...

Public Member Functions inherited from linux_pwm_out::PWMOutBase
virtual	~PWMOutBase ()

Private Member Functions
uint8_t	read_byte (int fd, uint8_t address)
	Read a single byte from PCA9685. More...

void	write_byte (int fd, uint8_t address, uint8_t data)
	Write a single byte to PCA9685. More...

int	open_fd (int bus, int address)
	Open device file for PCA9685 I2C bus. More...

Private Attributes
int	_fd = -1
	I2C device file descriptor. More...

Detailed Description

Main class that exports features for PCA9685 chip.

Definition at line 72 of file PCA9685.h.

Constructor & Destructor Documentation

◆ PCA9685() [1/2]

PCA9685::PCA9685 ( )

Definition at line 84 of file PCA9685.cpp.

References init(), PCA9685_DEFAULT_I2C_ADDR, and PCA9685_DEFAULT_I2C_BUS.

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◆ PCA9685() [2/2]

PCA9685::PCA9685	(	int	bus,
		int	address
	)

Constructor takes bus and address arguments.

Parameters

bus	the bus to use in /dev/i2c-d.
address	the device address on bus

Definition at line 89 of file PCA9685.cpp.

References init().

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◆ ~PCA9685()

PCA9685::~PCA9685 ( )

virtual

Definition at line 94 of file PCA9685.cpp.

References _fd, and reset().

Referenced by init().

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Member Function Documentation

◆ init() [1/2]

int linux_pwm_out::PCA9685::init ( )

inlineoverridevirtual

Implements linux_pwm_out::PWMOutBase.

Definition at line 85 of file PCA9685.h.

References _fd, reset(), send_output_pwm(), setPWM(), setPWMFreq(), and ~PCA9685().

Referenced by PCA9685().

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◆ init() [2/2]

int PCA9685::init	(	int	bus,
		int	address
	)

Definition at line 58 of file PCA9685.cpp.

References _fd, open_fd(), reset(), and setPWMFreq().

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◆ open_fd()

int PCA9685::open_fd	(	int	bus,
		int	address
	)

private

Open device file for PCA9685 I2C bus.

Returns: fd returns the file descriptor number or -1 on error

Definition at line 176 of file PCA9685.cpp.

References fd.

Referenced by init().

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◆ read_byte()

uint8_t PCA9685::read_byte	(	int	fd,
		uint8_t	address
	)

private

Read a single byte from PCA9685.

Parameters

fd	file descriptor for I/O
address	register address to read from

Returns: read byte

Definition at line 148 of file PCA9685.cpp.

References read(), and write().

Referenced by setPWMFreq().

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◆ reset()

void PCA9685::reset ( )

Sets PCA9685 mode to 00.

Definition at line 103 of file PCA9685.cpp.

References _fd, MODE1, MODE2, and write_byte().

Referenced by init(), and ~PCA9685().

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◆ send_output_pwm()

int PCA9685::send_output_pwm	(	const uint16_t *	pwm,
		int	num_outputs
	)

overridevirtual

Implements linux_pwm_out::PWMOutBase.

Definition at line 71 of file PCA9685.cpp.

References setPWM().

Referenced by init().

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◆ setPWM() [1/2]

void PCA9685::setPWM	(	uint8_t	channel,
		int	on_value,
		int	off_value
	)

PWM a single channel with custom on time.

send pwm vale to led(channel)

Parameters

channel
on_value	0-4095 value to turn on the pulse
off_value	0-4095 value to turn off the pulse

Definition at line 134 of file PCA9685.cpp.

References _fd, LED0_OFF_H, LED0_OFF_L, LED0_ON_H, LED0_ON_L, LED_MULTIPLYER, and write_byte().

Referenced by init(), send_output_pwm(), and setPWM().

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◆ setPWM() [2/2]

void PCA9685::setPWM	(	uint8_t	channel,
		int	value
	)

send pwm value to led(channel), value should be range of 0-4095

Definition at line 129 of file PCA9685.cpp.

References setPWM().

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◆ setPWMFreq()

void PCA9685::setPWMFreq ( int freq )

Set the frequency of PWM.

Parameters

freq	desired frequency. 40Hz to 1000Hz using internal 25MHz oscillator.

Definition at line 111 of file PCA9685.cpp.

References _fd, CLOCK_FREQ, MAX_PWM_RES, MODE1, PRE_SCALE, read_byte(), and write_byte().

Referenced by init().

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◆ write_byte()

void PCA9685::write_byte	(	int	fd,
		uint8_t	address,
		uint8_t	data
	)

private

Write a single byte to PCA9685.

Parameters

fd	file descriptor for I/O
address	register address to write to
data	8 bit data to write

Definition at line 165 of file PCA9685.cpp.

References data, and write().

Referenced by reset(), setPWM(), and setPWMFreq().

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Member Data Documentation

◆ _fd

int linux_pwm_out::PCA9685::_fd = -1

private

I2C device file descriptor.

Definition at line 118 of file PCA9685.h.

Referenced by init(), reset(), setPWM(), setPWMFreq(), and ~PCA9685().

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

src/drivers/linux_pwm_out/PCA9685.h
src/drivers/linux_pwm_out/PCA9685.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PCA9685() [1/2]

◆ PCA9685() [2/2]

◆ ~PCA9685()

Member Function Documentation

◆ init() [1/2]

◆ init() [2/2]

◆ open_fd()

◆ read_byte()

◆ reset()

◆ send_output_pwm()

◆ setPWM() [1/2]

◆ setPWM() [2/2]

◆ setPWMFreq()

◆ write_byte()

Member Data Documentation

◆ _fd