update pca9685 cpp source code

c++/PCA9685/CMakeLists.txt

+cmake_minimum_required(VERSION 2.6)
+
+project(PCA9685)
+
+SET(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR})
+
+# compile flags
+SET(CMAKE_CXX_FLAGS "-W -Wall -Wno-sign-compare -shared -fPIC -std=c++11 -O2")
+
+
+
+ADD_SUBDIRECTORY(src)
+

c++/PCA9685/src/CMakeLists.txt

+cmake_minimum_required(VERSION 2.6)
+
+project(PCA9685s)
+
+# source 
+file(GLOB LIB_SRCS ./*.cpp)
+
+# shared library 
+ADD_LIBRARY(${CMAKE_PROJECT_NAME} SHARED ${LIB_SRCS})
+TARGET_LINK_LIBRARIES(${CMAKE_PROJECT_NAME} )
+

c++/PCA9685/src/I2C.cpp

+/*
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * Name        : I2C.cpp
+ * Author      : Georgi Todorov
+ * Version     :
+ * Created on  : Dec 30, 2012
+ *
+ * Copyright © 2012 Georgi Todorov  <terahz@geodar.com>
+ */
+
+#include <sys/ioctl.h>
+#include <errno.h>
+#include <stdio.h>      /* Standard I/O functions */
+#include <fcntl.h>
+#include <unistd.h>
+#include <linux/i2c.h>
+#include <linux/i2c-dev.h>
+#include <syslog.h>		/* Syslog functionality */
+#include "I2C.h"
+
+I2C::I2C(int bus, int address) {
+	_i2cbus = bus;
+	_i2caddr = address;
+	snprintf(busfile, sizeof(busfile), "/dev/i2c-%d", bus);
+	printf("busfile:%s\n", busfile);
+	openfd();
+}
+
+I2C::~I2C() {
+	close(fd);
+}
+//! Read a single byte from I2C Bus
+/*!
+ \param address register address to read from
+ */
+uint8_t I2C::read_byte(uint8_t address) {
+	if (fd != -1) {
+		uint8_t buff[BUFFER_SIZE];
+		buff[0] = address;
+		if (write(fd, buff, BUFFER_SIZE) != BUFFER_SIZE) {
+			syslog(LOG_ERR,
+					"I2C slave 0x%x failed to go to register 0x%x [read_byte():write %d]",
+					_i2caddr, address, errno);
+			return (-1);
+		} else {
+			if (read(fd, dataBuffer, BUFFER_SIZE) != BUFFER_SIZE) {
+				syslog(LOG_ERR,
+						"Could not read from I2C slave 0x%x, register 0x%x [read_byte():read %d]",
+						_i2caddr, address, errno);
+				return (-1);
+			} else {
+				return dataBuffer[0];
+			}
+		}
+	} else {
+		syslog(LOG_ERR, "Device File not available. Aborting read");
+		return (-1);
+	}
+
+}
+//! Write a single byte from a I2C Device
+/*!
+ \param address register address to write to
+ \param data 8 bit data to write
+ */
+uint8_t I2C::write_byte(uint8_t address, uint8_t data) {
+	if (fd != -1) {
+		uint8_t buff[2];
+		buff[0] = address;
+		buff[1] = data;
+		if (write(fd, buff, sizeof(buff)) != 2) {
+			syslog(LOG_ERR,
+					"Failed to write to I2C Slave 0x%x @ register 0x%x [write_byte():write %d]",
+					_i2caddr, address, errno);
+			return (-1);
+		} else {
+			syslog(LOG_INFO, "Wrote to I2C Slave 0x%x @ register 0x%x [0x%x]",
+					_i2caddr, address, data);
+			return (-1);
+		}
+	} else {
+		syslog(LOG_INFO, "Device File not available. Aborting write");
+		return (-1);
+	}
+	return 0;
+}
+//! Open device file for I2C Device
+void I2C::openfd() {
+	if ((fd = open(busfile, O_RDWR)) < 0) {
+		syslog(LOG_ERR, "Couldn't open I2C Bus %d [openfd():open %d]", _i2cbus,
+				errno);
+	}
+	if (ioctl(fd, I2C_SLAVE, _i2caddr) < 0) {
+		syslog(LOG_ERR, "I2C slave %d failed [openfd():ioctl %d]", _i2caddr,
+				errno);
+	}
+}

c++/PCA9685/src/I2C.h

+/*
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * Name        : I2C.h
+ * Author      : Georgi Todorov
+ * Version     :
+ * Created on  : Dec 30, 2012
+ *
+ * Copyright © 2012 Georgi Todorov  <terahz@geodar.com>
+ */
+
+#ifndef I2C_H_
+#define I2C_H_
+#include <inttypes.h>
+
+#define BUFFER_SIZE 0x01  //1 byte buffer
+
+
+class I2C {
+public:
+	I2C(int, int);
+	virtual ~I2C();
+	uint8_t dataBuffer[BUFFER_SIZE];
+	uint8_t read_byte(uint8_t);
+	uint8_t write_byte(uint8_t, uint8_t);
+private:
+	int _i2caddr;
+	int _i2cbus;
+	void openfd();
+	char busfile[64];
+	int fd;
+};
+
+#endif /* I2C_H_ */

c++/PCA9685/src/Makefile

+#INCLUDES := -I../../I2C/src
+#LIBRARIES := -L../../I2C/src
+#LIBS := -lI2C
+CXXFLAGS := -O3 -fPIC -g -Wall -Werror 
+CXX := g++
+#CXX := arm-unknown-linux-gnueabi-g++
+MAJOR := 0
+MINOR := 1
+NAME := PCA9685
+VERSION := $(MAJOR).$(MINOR)
+RM := rm -rf
+
+all: lib copy
+lib: lib$(NAME).so.$(VERSION) lib$(NAME).so
+
+lib$(NAME).so: lib$(NAME).so.$(VERSION)
+	ldconfig -v -n .
+	ln -s lib$(NAME).so.$(MAJOR) lib$(NAME).so
+
+lib$(NAME).so.$(VERSION): $(NAME).o
+	$(CXX) -pg -shared -Wl,-soname,lib$(NAME).so.$(MAJOR) $^ -o $@
+	
+clean:
+	$(RM) *.o *.so*
+	
+copy:
+ifdef DISTPATH
+	cp lib$(NAME)* $(DISTPATH)
+endif

c++/PCA9685/src/PCA9685.cpp

+/*
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * Name        : PCA9685.cpp
+ * Author      : Georgi Todorov
+ * Version     :
+ * Created on  : Dec 9, 2012
+ *
+ * Copyright © 2012 Georgi Todorov  <terahz@geodar.com>
+ */
+
+#include <sys/stat.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
+#include <linux/i2c.h>
+#include <linux/i2c-dev.h>
+#include <stdio.h>      /* Standard I/O functions */
+#include <fcntl.h>
+#include <syslog.h>		/* Syslog functionallity */
+#include <inttypes.h>
+#include <errno.h>
+#include <math.h>
+
+#include "PCA9685.h"
+
+//! Constructor takes bus and address arguments
+/*!
+ \param bus the bus to use in /dev/i2c-%d.
+ \param address the device address on bus
+ */
+PCA9685::PCA9685() {
+	i2c = new I2C(1,PCA9685_ADDRESS);
+	reset();
+	setPWMFreq(1000);
+}
+
+PCA9685::~PCA9685() {
+	delete i2c;
+}
+//! Sets PCA9685 mode to 00
+void PCA9685::reset() {
+
+		i2c->write_byte(MODE1, 0x01); //Normal mode
+		i2c->write_byte(MODE2, 0x04); //totem pole
+
+}
+//! Set the frequency of PWM
+/*!
+ \param freq desired frequency. 40Hz to 1000Hz using internal 25MHz oscillator.
+ */
+void PCA9685::setPWMFreq(int freq) {
+		uint8_t prescale_val = (CLOCK_FREQ / 4096 / freq)  - 1;
+		i2c->write_byte(MODE1, 0x10); //sleep
+		i2c->write_byte(PRE_SCALE, prescale_val); // multiplyer for PWM frequency
+		i2c->write_byte(MODE1, 0x80); //restart
+		i2c->write_byte(MODE2, 0x04); //totem pole (default)
+}
+
+//! PWM a single channel
+/*!
+ \param led channel (1-16) to set PWM value for
+ \param value 0-4095 value for PWM
+ */
+void PCA9685::setPWM(uint8_t led, int value) {
+	setPWM(led, 0, value);
+}
+//! PWM a single channel with custom on time
+/*!
+ \param led channel (1-16) to set PWM value for
+ \param on_value 0-4095 value to turn on the pulse
+ \param off_value 0-4095 value to turn off the pulse
+ */
+void PCA9685::setPWM(uint8_t led, int on_value, int off_value) {
+		i2c->write_byte(LED0_ON_L + 4 * led , on_value & 0xFF);
+		i2c->write_byte(LED0_ON_H + 4 * led , on_value >> 8);
+		i2c->write_byte(LED0_OFF_L + 4 * led , off_value & 0xFF);
+		i2c->write_byte(LED0_OFF_H + 4 * led , off_value >> 8);
+}
+
+//! Get current PWM value
+/*!
+ \param led channel (1-16) to get PWM value from
+ */
+int PCA9685::getPWM(uint8_t led){
+	int ledval = 0;
+	ledval = i2c->read_byte(LED0_OFF_H + LED_MULTIPLYER * (led-1));
+	ledval = ledval & 0xf;
+	ledval <<= 8;
+	ledval += i2c->read_byte(LED0_OFF_L + LED_MULTIPLYER * (led-1));
+	return ledval;
+}

c++/PCA9685/src/PCA9685.h

+/*
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * Name        : PCA9685.h
+ * Author      : Georgi Todorov
+ * Version     :
+ * Created on  : Dec 9, 2012
+ *
+ * Copyright © 2012 Georgi Todorov  <terahz@geodar.com>
+ */
+
+#ifndef _PCA9685_H
+#define _PCA9685_H
+#include <inttypes.h>
+#include "I2C.h"
+// Register Definitions
+
+#define PCA9685_ADDRESS   0x00000041
+#define MODE1 0x00			//Mode  register  1
+#define MODE2 0x01			//Mode  register  2
+
+#define SUBADR1 0x02		//I2C-bus subaddress 1
+#define SUBADR2 0x03		//I2C-bus subaddress 2
+#define SUBADR3 0x04		//I2C-bus subaddress 3
+#define ALLCALLADR 0x05     //LED All Call I2C-bus address
+#define LED0 0x6			//LED0 start register
+#define LED0_ON_L 0x6		//LED0 output and brightness control byte 0
+#define LED0_ON_H 0x7		//LED0 output and brightness control byte 1
+#define LED0_OFF_L 0x8		//LED0 output and brightness control byte 2
+#define LED0_OFF_H 0x9		//LED0 output and brightness control byte 3
+
+#define LED_MULTIPLYER 4	// For the other 15 channels
+#define ALLLED_ON_L 0xFA    //load all the LEDn_ON registers, byte 0 (turn 0-7 channels on)
+#define ALLLED_ON_H 0xFB	//load all the LEDn_ON registers, byte 1 (turn 8-15 channels on)
+#define ALLLED_OFF_L 0xFC	//load all the LEDn_OFF registers, byte 0 (turn 0-7 channels off)
+#define ALLLED_OFF_H 0xFD	//load all the LEDn_OFF registers, byte 1 (turn 8-15 channels off)
+#define PRE_SCALE 0xFE		//prescaler for output frequency
+#define CLOCK_FREQ 25000000.0 //25MHz default osc clock
+//! Main class that exports features for PCA9685 chip
+class PCA9685 {
+public:
+	PCA9685();
+	virtual ~PCA9685();
+
+	void setPWMFreq(int);
+	void setPWM(uint8_t, int);
+	int getPWM(uint8_t);
+
+private:
+	I2C *i2c;
+	void reset(void);
+	void setPWM(uint8_t, int, int);
+};
+
+
+extern "C" {  
+    PCA9685 pwm;  
+    void setPWMFreq(int freg) {  
+        pwm.setPWMFreq(freg);   
+      }  
+    void setPWM(uint8_t channel, int angle) {  
+        pwm.setPWM(channel, angle);   
+      }  
+
+    int getPWM(uint8_t channel) {  
+        return pwm.getPWM(channel);   
+      } 
+}
+
+
+#endif
\ No newline at end of file