LibDriver PCA9685
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driver_pca9685.c
Go to the documentation of this file.
1
36
37#include "driver_pca9685.h"
38#include <math.h>
39
43#define CHIP_NAME "NXP PCA9685"
44#define MANUFACTURER_NAME "NXP"
45#define SUPPLY_VOLTAGE_MIN 2.3f
46#define SUPPLY_VOLTAGE_MAX 5.5f
47#define MAX_CURRENT 400.0f
48#define TEMPERATURE_MIN -40.0f
49#define TEMPERATURE_MAX 85.0f
50#define DRIVER_VERSION 1000
51
55#define PCA9685_REG_MODE1 0x00
56#define PCA9685_REG_MODE2 0x01
57#define PCA9685_REG_SUBADR1 0x02
58#define PCA9685_REG_SUBADR2 0x03
59#define PCA9685_REG_SUBADR3 0x04
60#define PCA9685_REG_ALLCALLADR 0x05
61#define PCA9685_REG_LED0_ON_L 0x06
62#define PCA9685_REG_LED0_ON_H 0x07
63#define PCA9685_REG_LED0_OFF_L 0x08
64#define PCA9685_REG_LED0_OFF_H 0x09
65#define PCA9685_REG_ALL_LED_ON_L 0xFA
66#define PCA9685_REG_ALL_LED_ON_H 0xFB
67#define PCA9685_REG_ALL_LED_OFF_L 0xFC
68#define PCA9685_REG_ALL_LED_OFF_H 0xFD
69#define PCA9685_REG_PRE_SCALE 0xFE
70
80uint8_t pca9685_set_addr_pin(pca9685_handle_t *handle, pca9685_address_t addr_pin)
81{
82 if (handle == NULL) /* check handle */
83 {
84 return 2; /* return error */
85 }
86
87 handle->iic_addr = 0x80; /* set 0x80*/
88 handle->iic_addr |= addr_pin << 1; /* set iic addr */
89
90 return 0; /* success return 0 */
91}
92
102uint8_t pca9685_get_addr_pin(pca9685_handle_t *handle, pca9685_address_t *addr_pin)
103{
104 if (handle == NULL) /* check handle */
105 {
106 return 2; /* return error */
107 }
108
109 *addr_pin = (pca9685_address_t)((handle->iic_addr & (~0x80)) >> 1); /*get iic address */
110
111 return 0; /* success return 0 */
112}
113
123uint8_t pca9685_set_addr(pca9685_handle_t *handle, uint8_t addr)
124{
125 if (handle == NULL) /* check handle */
126 {
127 return 2; /* return error */
128 }
129
130 handle->iic_addr = addr; /* set iic addr */
131
132 return 0; /* success return 0 */
133}
134
144uint8_t pca9685_get_addr(pca9685_handle_t *handle, uint8_t *addr)
145{
146 if (handle == NULL) /* check handle */
147 {
148 return 2; /* return error */
149 }
150
151 *addr = handle->iic_addr; /* get iic addr */
152
153 return 0; /* success return 0 */
154}
155
167uint8_t pca9685_set_active(pca9685_handle_t *handle, pca9685_bool_t enable)
168{
169 if (handle == NULL) /* check handle */
170 {
171 return 2; /* return error */
172 }
173 if (handle->inited != 1) /* check handle initialization */
174 {
175 return 3; /* return error */
176 }
177
178 if (handle->oe_gpio_write(!enable) != 0) /* gpio write */
179 {
180 handle->debug_print("pcf8591: gpio write failed.\n"); /* gpio writer failed */
181
182 return 1; /* return error */
183 }
184
185 return 0; /* success return 0 */
186}
187
199uint8_t pca9685_set_restart(pca9685_handle_t *handle, pca9685_bool_t enable)
200{
201 uint8_t res;
202 uint8_t prev;
203
204 if (handle == NULL) /* check handle */
205 {
206 return 2; /* return error */
207 }
208 if (handle->inited != 1) /* check handle initialization */
209 {
210 return 3; /* return error */
211 }
212
213 res = handle->iic_read(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* read mode 1 register */
214 if (res != 0) /* check result */
215 {
216 handle->debug_print("pcf8591: read mode 1 register failed.\n"); /* read mode 1 register failed */
217
218 return 1; /* return error */
219 }
220 prev &= ~(1 << 7); /* clear conf */
221 prev |= enable << 7; /* set conf */
222 res = handle->iic_write(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* write mode 1 register */
223 if (res != 0) /* check result */
224 {
225 handle->debug_print("pcf8591: write mode 1 register failed.\n"); /* write mode 1 register failed */
226
227 return 1; /* return error */
228 }
229
230 return 0; /* success return 0 */
231}
232
244uint8_t pca9685_get_restart(pca9685_handle_t *handle, pca9685_bool_t *enable)
245{
246 uint8_t res;
247 uint8_t prev;
248
249 if (handle == NULL) /* check handle */
250 {
251 return 2; /* return error */
252 }
253 if (handle->inited != 1) /* check handle initialization */
254 {
255 return 3; /* return error */
256 }
257
258 res = handle->iic_read(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* read mode 1 register */
259 if (res != 0) /* check result */
260 {
261 handle->debug_print("pcf8591: read mode 1 register failed.\n"); /* read mode 1 register failed */
262
263 return 1; /* return error */
264 }
265 *enable = (pca9685_bool_t)((prev >> 7) & 0x01); /* get bool */
266
267 return 0; /* success return 0 */
268}
269
281uint8_t pca9685_set_external_clock_pin(pca9685_handle_t *handle, pca9685_bool_t enable)
282{
283 uint8_t res;
284 uint8_t prev;
285
286 if (handle == NULL) /* check handle */
287 {
288 return 2; /* return error */
289 }
290 if (handle->inited != 1) /* check handle initialization */
291 {
292 return 3; /* return error */
293 }
294
295 res = handle->iic_read(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* read mode 1 register */
296 if (res != 0) /* check result */
297 {
298 handle->debug_print("pcf8591: read mode 1 register failed.\n"); /* read mode 1 register failed */
299
300 return 1; /* return error */
301 }
302 prev &= ~(1 << 6); /* clear conf */
303 prev |= enable << 6; /* set conf */
304 res = handle->iic_write(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* write mode 1 register */
305 if (res != 0) /* check result */
306 {
307 handle->debug_print("pcf8591: write mode 1 register failed.\n"); /* write mode 1 register failed */
308
309 return 1; /* return error */
310 }
311
312 return 0; /* success return 0 */
313}
314
326uint8_t pca9685_get_external_clock_pin(pca9685_handle_t *handle, pca9685_bool_t *enable)
327{
328 uint8_t res;
329 uint8_t prev;
330
331 if (handle == NULL) /* check handle */
332 {
333 return 2; /* return error */
334 }
335 if (handle->inited != 1) /* check handle initialization */
336 {
337 return 3; /* return error */
338 }
339
340 res = handle->iic_read(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* read mode 1 register */
341 if (res != 0) /* check result */
342 {
343 handle->debug_print("pcf8591: read mode 1 register failed.\n"); /* read mode 1 register failed */
344
345 return 1; /* return error */
346 }
347 *enable = (pca9685_bool_t)((prev >> 6) & 0x01); /* get bool */
348
349 return 0; /* success return 0 */
350}
351
363uint8_t pca9685_set_register_auto_increment(pca9685_handle_t *handle, pca9685_bool_t enable)
364{
365 uint8_t res;
366 uint8_t prev;
367
368 if (handle == NULL) /* check handle */
369 {
370 return 2; /* return error */
371 }
372 if (handle->inited != 1) /* check handle initialization */
373 {
374 return 3; /* return error */
375 }
376
377 res = handle->iic_read(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* read mode 1 register */
378 if (res != 0) /* check result */
379 {
380 handle->debug_print("pcf8591: read mode 1 register failed.\n"); /* read mode 1 register failed */
381
382 return 1; /* return error */
383 }
384 prev &= ~(1 << 5); /* clear conf */
385 prev |= enable << 5; /* set conf */
386 res = handle->iic_write(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* write mode 1 register */
387 if (res != 0) /* check result */
388 {
389 handle->debug_print("pcf8591: write mode 1 register failed.\n"); /* write mode 1 register failed */
390
391 return 1; /* return error */
392 }
393
394 return 0; /* success return 0 */
395}
396
408uint8_t pca9685_get_register_auto_increment(pca9685_handle_t *handle, pca9685_bool_t *enable)
409{
410 uint8_t res;
411 uint8_t prev;
412
413 if (handle == NULL) /* check handle */
414 {
415 return 2; /* return error */
416 }
417 if (handle->inited != 1) /* check handle initialization */
418 {
419 return 3; /* return error */
420 }
421
422 res = handle->iic_read(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* read mode 1 register */
423 if (res != 0) /* check result */
424 {
425 handle->debug_print("pcf8591: read mode 1 register failed.\n"); /* read mode 1 register failed */
426
427 return 1; /* return error */
428 }
429 *enable = (pca9685_bool_t)((prev >> 5) & 0x01); /* get bool */
430
431 return 0; /* success return 0 */
432}
433
445uint8_t pca9685_set_sleep_mode(pca9685_handle_t *handle, pca9685_bool_t enable)
446{
447 uint8_t res;
448 uint8_t prev;
449
450 if (handle == NULL) /* check handle */
451 {
452 return 2; /* return error */
453 }
454 if (handle->inited != 1) /* check handle initialization */
455 {
456 return 3; /* return error */
457 }
458
459 res = handle->iic_read(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* read mode 1 register */
460 if (res != 0) /* check result */
461 {
462 handle->debug_print("pcf8591: read mode 1 register failed.\n"); /* read mode 1 register failed */
463
464 return 1; /* return error */
465 }
466 prev &= ~(1 << 4); /* clear conf */
467 prev |= enable << 4; /* set conf */
468 res = handle->iic_write(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* write mode 1 register */
469 if (res != 0) /* check result */
470 {
471 handle->debug_print("pcf8591: write mode 1 register failed.\n"); /* write mode 1 register failed */
472
473 return 1; /* return error */
474 }
475
476 return 0; /* success return 0 */
477}
478
490uint8_t pca9685_get_sleep_mode(pca9685_handle_t *handle, pca9685_bool_t *enable)
491{
492 uint8_t res;
493 uint8_t prev;
494
495 if (handle == NULL) /* check handle */
496 {
497 return 2; /* return error */
498 }
499 if (handle->inited != 1) /* check handle initialization */
500 {
501 return 3; /* return error */
502 }
503
504 res = handle->iic_read(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* read mode 1 register */
505 if (res != 0) /* check result */
506 {
507 handle->debug_print("pcf8591: read mode 1 register failed.\n"); /* read mode 1 register failed */
508
509 return 1; /* return error */
510 }
511 *enable = (pca9685_bool_t)((prev >> 4) & 0x01); /* get bool */
512
513 return 0; /* success return 0 */
514}
515
527uint8_t pca9685_set_respond_subaddress_1(pca9685_handle_t *handle, pca9685_bool_t enable)
528{
529 uint8_t res;
530 uint8_t prev;
531
532 if (handle == NULL) /* check handle */
533 {
534 return 2; /* return error */
535 }
536 if (handle->inited != 1) /* check handle initialization */
537 {
538 return 3; /* return error */
539 }
540
541 res = handle->iic_read(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* read mode 1 register */
542 if (res != 0) /* check result */
543 {
544 handle->debug_print("pcf8591: read mode 1 register failed.\n"); /* read mode 1 register failed */
545
546 return 1; /* return error */
547 }
548 prev &= ~(1 << 3); /* clear conf */
549 prev |= enable << 3; /* set conf */
550 res = handle->iic_write(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* write mode 1 register */
551 if (res != 0) /* check result */
552 {
553 handle->debug_print("pcf8591: write mode 1 register failed.\n"); /* write mode 1 register failed */
554
555 return 1; /* return error */
556 }
557
558 return 0; /* success return 0 */
559}
560
572uint8_t pca9685_get_respond_subaddress_1(pca9685_handle_t *handle, pca9685_bool_t *enable)
573{
574 uint8_t res;
575 uint8_t prev;
576
577 if (handle == NULL) /* check handle */
578 {
579 return 2; /* return error */
580 }
581 if (handle->inited != 1) /* check handle initialization */
582 {
583 return 3; /* return error */
584 }
585
586 res = handle->iic_read(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* read mode 1 register */
587 if (res != 0) /* check result */
588 {
589 handle->debug_print("pcf8591: read mode 1 register failed.\n"); /* read mode 1 register failed */
590
591 return 1; /* return error */
592 }
593 *enable = (pca9685_bool_t)((prev >> 3) & 0x01); /* get bool */
594
595 return 0; /* success return 0 */
596}
597
609uint8_t pca9685_set_respond_subaddress_2(pca9685_handle_t *handle, pca9685_bool_t enable)
610{
611 uint8_t res;
612 uint8_t prev;
613
614 if (handle == NULL) /* check handle */
615 {
616 return 2; /* return error */
617 }
618 if (handle->inited != 1) /* check handle initialization */
619 {
620 return 3; /* return error */
621 }
622
623 res = handle->iic_read(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* read mode 1 register */
624 if (res != 0) /* check result */
625 {
626 handle->debug_print("pcf8591: read mode 1 register failed.\n"); /* read mode 1 register failed */
627
628 return 1; /* return error */
629 }
630 prev &= ~(1 << 2); /* clear conf */
631 prev |= enable << 2; /* set conf */
632 res = handle->iic_write(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* write mode 1 register */
633 if (res != 0) /* check result */
634 {
635 handle->debug_print("pcf8591: write mode 1 register failed.\n"); /* write mode 1 register failed */
636
637 return 1; /* return error */
638 }
639
640 return 0; /* success return 0 */
641}
642
654uint8_t pca9685_get_respond_subaddress_2(pca9685_handle_t *handle, pca9685_bool_t *enable)
655{
656 uint8_t res;
657 uint8_t prev;
658
659 if (handle == NULL) /* check handle */
660 {
661 return 2; /* return error */
662 }
663 if (handle->inited != 1) /* check handle initialization */
664 {
665 return 3; /* return error */
666 }
667
668 res = handle->iic_read(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* read mode 1 register */
669 if (res != 0) /* check result */
670 {
671 handle->debug_print("pcf8591: read mode 1 register failed.\n"); /* read mode 1 register failed */
672
673 return 1; /* return error */
674 }
675 *enable = (pca9685_bool_t)((prev >> 2) & 0x01); /* get bool */
676
677 return 0; /* success return 0 */
678}
679
691uint8_t pca9685_set_respond_subaddress_3(pca9685_handle_t *handle, pca9685_bool_t enable)
692{
693 uint8_t res;
694 uint8_t prev;
695
696 if (handle == NULL) /* check handle */
697 {
698 return 2; /* return error */
699 }
700 if (handle->inited != 1) /* check handle initialization */
701 {
702 return 3; /* return error */
703 }
704
705 res = handle->iic_read(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* read mode 1 register */
706 if (res != 0) /* check result */
707 {
708 handle->debug_print("pcf8591: read mode 1 register failed.\n"); /* read mode 1 register failed */
709
710 return 1; /* return error */
711 }
712 prev &= ~(1 << 1); /* clear conf */
713 prev |= enable << 1; /* set conf */
714 res = handle->iic_write(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* write mode 1 register */
715 if (res != 0) /* check result */
716 {
717 handle->debug_print("pcf8591: write mode 1 register failed.\n"); /* write mode 1 register failed */
718
719 return 1; /* return error */
720 }
721
722 return 0; /* success return 0 */
723}
724
736uint8_t pca9685_get_respond_subaddress_3(pca9685_handle_t *handle, pca9685_bool_t *enable)
737{
738 uint8_t res;
739 uint8_t prev;
740
741 if (handle == NULL) /* check handle */
742 {
743 return 2; /* return error */
744 }
745 if (handle->inited != 1) /* check handle initialization */
746 {
747 return 3; /* return error */
748 }
749
750 res = handle->iic_read(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* read mode 1 register */
751 if (res != 0) /* check result */
752 {
753 handle->debug_print("pcf8591: read mode 1 register failed.\n"); /* read mode 1 register failed */
754
755 return 1; /* return error */
756 }
757 *enable = (pca9685_bool_t)((prev >> 1) & 0x01); /* get bool */
758
759 return 0; /* success return 0 */
760}
761
773uint8_t pca9685_set_respond_all_call(pca9685_handle_t *handle, pca9685_bool_t enable)
774{
775 uint8_t res;
776 uint8_t prev;
777
778 if (handle == NULL) /* check handle */
779 {
780 return 2; /* return error */
781 }
782 if (handle->inited != 1) /* check handle initialization */
783 {
784 return 3; /* return error */
785 }
786
787 res = handle->iic_read(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* read mode 1 register */
788 if (res != 0) /* check result */
789 {
790 handle->debug_print("pcf8591: read mode 1 register failed.\n"); /* read mode 1 register failed */
791
792 return 1; /* return error */
793 }
794 prev &= ~(1 << 0); /* clear conf */
795 prev |= enable << 0; /* set conf */
796 res = handle->iic_write(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* write mode 1 register */
797 if (res != 0) /* check result */
798 {
799 handle->debug_print("pcf8591: write mode 1 register failed.\n"); /* write mode 1 register failed */
800
801 return 1; /* return error */
802 }
803
804 return 0; /* success return 0 */
805}
806
818uint8_t pca9685_get_respond_all_call(pca9685_handle_t *handle, pca9685_bool_t *enable)
819{
820 uint8_t res;
821 uint8_t prev;
822
823 if (handle == NULL) /* check handle */
824 {
825 return 2; /* return error */
826 }
827 if (handle->inited != 1) /* check handle initialization */
828 {
829 return 3; /* return error */
830 }
831
832 res = handle->iic_read(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* read mode 1 register */
833 if (res != 0) /* check result */
834 {
835 handle->debug_print("pcf8591: read mode 1 register failed.\n"); /* read mode 1 register failed */
836
837 return 1; /* return error */
838 }
839 *enable = (pca9685_bool_t)((prev >> 0) & 0x01); /* get bool */
840
841 return 0; /* success return 0 */
842}
843
855uint8_t pca9685_set_output_invert(pca9685_handle_t *handle, pca9685_bool_t enable)
856{
857 uint8_t res;
858 uint8_t prev;
859
860 if (handle == NULL) /* check handle */
861 {
862 return 2; /* return error */
863 }
864 if (handle->inited != 1) /* check handle initialization */
865 {
866 return 3; /* return error */
867 }
868
869 res = handle->iic_read(handle->iic_addr, PCA9685_REG_MODE2, (uint8_t *)&prev, 1); /* read mode 2 register */
870 if (res != 0) /* check result */
871 {
872 handle->debug_print("pcf8591: read mode 2 register failed.\n"); /* read mode 2 register failed */
873
874 return 1; /* return error */
875 }
876 prev &= ~(1 << 4); /* clear conf */
877 prev |= enable << 4; /* set conf */
878 res = handle->iic_write(handle->iic_addr, PCA9685_REG_MODE2, (uint8_t *)&prev, 1); /* write mode 2 register */
879 if (res != 0) /* check result */
880 {
881 handle->debug_print("pcf8591: write mode 2 register failed.\n"); /* write mode 2 register failed */
882
883 return 1; /* return error */
884 }
885
886 return 0; /* success return 0 */
887}
888
900uint8_t pca9685_get_output_invert(pca9685_handle_t *handle, pca9685_bool_t *enable)
901{
902 uint8_t res;
903 uint8_t prev;
904
905 if (handle == NULL) /* check handle */
906 {
907 return 2; /* return error */
908 }
909 if (handle->inited != 1) /* check handle initialization */
910 {
911 return 3; /* return error */
912 }
913
914 res = handle->iic_read(handle->iic_addr, PCA9685_REG_MODE2, (uint8_t *)&prev, 1); /* read mode 2 register */
915 if (res != 0) /* check result */
916 {
917 handle->debug_print("pcf8591: read mode 2 register failed.\n"); /* read mode 2 register failed */
918
919 return 1; /* return error */
920 }
921 *enable = (pca9685_bool_t)((prev >> 4) & 0x01); /* get bool */
922
923 return 0; /* success return 0 */
924}
925
937uint8_t pca9685_set_output_change(pca9685_handle_t *handle, pca9685_output_change_t change)
938{
939 uint8_t res;
940 uint8_t prev;
941
942 if (handle == NULL) /* check handle */
943 {
944 return 2; /* return error */
945 }
946 if (handle->inited != 1) /* check handle initialization */
947 {
948 return 3; /* return error */
949 }
950
951 res = handle->iic_read(handle->iic_addr, PCA9685_REG_MODE2, (uint8_t *)&prev, 1); /* read mode 2 register */
952 if (res != 0) /* check result */
953 {
954 handle->debug_print("pcf8591: read mode 2 register failed.\n"); /* read mode 2 register failed */
955
956 return 1; /* return error */
957 }
958 prev &= ~(1 << 3); /* clear conf */
959 prev |= change << 3; /* set conf */
960 res = handle->iic_write(handle->iic_addr, PCA9685_REG_MODE2, (uint8_t *)&prev, 1); /* write mode 2 register */
961 if (res != 0) /* check result */
962 {
963 handle->debug_print("pcf8591: write mode 2 register failed.\n"); /* write mode 2 register failed */
964
965 return 1; /* return error */
966 }
967
968 return 0; /* success return 0 */
969}
970
982uint8_t pca9685_get_output_change(pca9685_handle_t *handle, pca9685_output_change_t *change)
983{
984 uint8_t res;
985 uint8_t prev;
986
987 if (handle == NULL) /* check handle */
988 {
989 return 2; /* return error */
990 }
991 if (handle->inited != 1) /* check handle initialization */
992 {
993 return 3; /* return error */
994 }
995
996 res = handle->iic_read(handle->iic_addr, PCA9685_REG_MODE2, (uint8_t *)&prev, 1); /* read mode 2 register */
997 if (res != 0) /* check result */
998 {
999 handle->debug_print("pcf8591: read mode 2 register failed.\n"); /* read mode 2 register failed */
1000
1001 return 1; /* return error */
1002 }
1003 *change = (pca9685_output_change_t)((prev >> 3) & 0x01); /* get change */
1004
1005 return 0; /* success return 0 */
1006}
1007
1019uint8_t pca9685_set_output_driver(pca9685_handle_t *handle, pca9685_output_driver_t driver)
1020{
1021 uint8_t res;
1022 uint8_t prev;
1023
1024 if (handle == NULL) /* check handle */
1025 {
1026 return 2; /* return error */
1027 }
1028 if (handle->inited != 1) /* check handle initialization */
1029 {
1030 return 3; /* return error */
1031 }
1032
1033 res = handle->iic_read(handle->iic_addr, PCA9685_REG_MODE2, (uint8_t *)&prev, 1); /* read mode 2 register */
1034 if (res != 0) /* check result */
1035 {
1036 handle->debug_print("pcf8591: read mode 2 register failed.\n"); /* read mode 2 register failed */
1037
1038 return 1; /* return error */
1039 }
1040 prev &= ~(1 << 2); /* clear conf */
1041 prev |= driver << 2; /* set conf */
1042 res = handle->iic_write(handle->iic_addr, PCA9685_REG_MODE2, (uint8_t *)&prev, 1); /* write mode 2 register */
1043 if (res != 0) /* check result */
1044 {
1045 handle->debug_print("pcf8591: write mode 2 register failed.\n"); /* write mode 2 register failed */
1046
1047 return 1; /* return error */
1048 }
1049
1050 return 0; /* success return 0 */
1051}
1052
1064uint8_t pca9685_get_output_driver(pca9685_handle_t *handle, pca9685_output_driver_t *driver)
1065{
1066 uint8_t res;
1067 uint8_t prev;
1068
1069 if (handle == NULL) /* check handle */
1070 {
1071 return 2; /* return error */
1072 }
1073 if (handle->inited != 1) /* check handle initialization */
1074 {
1075 return 3; /* return error */
1076 }
1077
1078 res = handle->iic_read(handle->iic_addr, PCA9685_REG_MODE2, (uint8_t *)&prev, 1); /* read mode 2 register */
1079 if (res != 0) /* check result */
1080 {
1081 handle->debug_print("pcf8591: read mode 2 register failed.\n"); /* read mode 2 register failed */
1082
1083 return 1; /* return error */
1084 }
1085 *driver = (pca9685_output_driver_t)((prev >> 2) & 0x01); /* get change */
1086
1087 return 0; /* success return 0 */
1088}
1089
1101uint8_t pca9685_set_output_disable_type(pca9685_handle_t *handle, pca9685_output_disable_type_t type)
1102{
1103 uint8_t res;
1104 uint8_t prev;
1105
1106 if (handle == NULL) /* check handle */
1107 {
1108 return 2; /* return error */
1109 }
1110 if (handle->inited != 1) /* check handle initialization */
1111 {
1112 return 3; /* return error */
1113 }
1114
1115 res = handle->iic_read(handle->iic_addr, PCA9685_REG_MODE2, (uint8_t *)&prev, 1); /* read mode 2 register */
1116 if (res != 0) /* check result */
1117 {
1118 handle->debug_print("pcf8591: read mode 2 register failed.\n"); /* read mode 2 register failed */
1119
1120 return 1; /* return error */
1121 }
1122 prev &= ~(3 << 0); /* clear conf */
1123 prev |= type << 0; /* set conf */
1124 res = handle->iic_write(handle->iic_addr, PCA9685_REG_MODE2, (uint8_t *)&prev, 1); /* write mode 2 register */
1125 if (res != 0) /* check result */
1126 {
1127 handle->debug_print("pcf8591: write mode 2 register failed.\n"); /* write mode 2 register failed */
1128
1129 return 1; /* return error */
1130 }
1131
1132 return 0; /* success return 0 */
1133}
1134
1146uint8_t pca9685_get_output_disable_type(pca9685_handle_t *handle, pca9685_output_disable_type_t *type)
1147{
1148 uint8_t res;
1149 uint8_t prev;
1150
1151 if (handle == NULL) /* check handle */
1152 {
1153 return 2; /* return error */
1154 }
1155 if (handle->inited != 1) /* check handle initialization */
1156 {
1157 return 3; /* return error */
1158 }
1159
1160 res = handle->iic_read(handle->iic_addr, PCA9685_REG_MODE2, (uint8_t *)&prev, 1); /* read mode 2 register */
1161 if (res != 0) /* check result */
1162 {
1163 handle->debug_print("pcf8591: read mode 2 register failed.\n"); /* read mode 2 register failed */
1164
1165 return 1; /* return error */
1166 }
1167 *type = (pca9685_output_disable_type_t)((prev >> 0) & (0x3)); /* get type */
1168
1169 return 0; /* success return 0 */
1170}
1171
1183uint8_t pca9685_set_subaddress_1(pca9685_handle_t *handle, uint8_t addr)
1184{
1185 uint8_t res;
1186
1187 if (handle == NULL) /* check handle */
1188 {
1189 return 2; /* return error */
1190 }
1191 if (handle->inited != 1) /* check handle initialization */
1192 {
1193 return 3; /* return error */
1194 }
1195
1196 res = handle->iic_write(handle->iic_addr, PCA9685_REG_SUBADR1, (uint8_t *)&addr, 1); /* write sub address 1 register */
1197 if (res != 0) /* check result */
1198 {
1199 handle->debug_print("pcf8591: write sub address 1 register failed.\n"); /* write sub address 1 register failed */
1200
1201 return 1; /* return error */
1202 }
1203
1204 return 0; /* success return 0 */
1205}
1206
1218uint8_t pca9685_get_subaddress_1(pca9685_handle_t *handle, uint8_t *addr)
1219{
1220 uint8_t res;
1221
1222 if (handle == NULL) /* check handle */
1223 {
1224 return 2; /* return error */
1225 }
1226 if (handle->inited != 1) /* check handle initialization */
1227 {
1228 return 3; /* return error */
1229 }
1230
1231 res = handle->iic_read(handle->iic_addr, PCA9685_REG_SUBADR1, (uint8_t *)addr, 1); /* read sub address 1 register */
1232 if (res != 0) /* check result */
1233 {
1234 handle->debug_print("pcf8591: read sub address 1 register failed.\n"); /* read sub address 1 register failed */
1235
1236 return 1; /* return error */
1237 }
1238
1239 return 0; /* success return 0 */
1240}
1241
1253uint8_t pca9685_set_subaddress_2(pca9685_handle_t *handle, uint8_t addr)
1254{
1255 uint8_t res;
1256
1257 if (handle == NULL) /* check handle */
1258 {
1259 return 2; /* return error */
1260 }
1261 if (handle->inited != 1) /* check handle initialization */
1262 {
1263 return 3; /* return error */
1264 }
1265
1266 res = handle->iic_write(handle->iic_addr, PCA9685_REG_SUBADR2, (uint8_t *)&addr, 1); /* write sub address 2 register */
1267 if (res != 0) /* check result */
1268 {
1269 handle->debug_print("pcf8591: write sub address 2 register failed.\n"); /* write sub address 2 register failed */
1270
1271 return 1; /* return error */
1272 }
1273
1274 return 0; /* success return 0 */
1275}
1276
1288uint8_t pca9685_get_subaddress_2(pca9685_handle_t *handle, uint8_t *addr)
1289{
1290 uint8_t res;
1291
1292 if (handle == NULL) /* check handle */
1293 {
1294 return 2; /* return error */
1295 }
1296 if (handle->inited != 1) /* check handle initialization */
1297 {
1298 return 3; /* return error */
1299 }
1300
1301 res = handle->iic_read(handle->iic_addr, PCA9685_REG_SUBADR2, (uint8_t *)addr, 1); /* read sub address 2 register */
1302 if (res != 0) /* check result */
1303 {
1304 handle->debug_print("pcf8591: read sub address 2 register failed.\n"); /* read sub address 2 register failed */
1305
1306 return 1; /* return error */
1307 }
1308
1309 return 0; /* success return 0 */
1310}
1311
1323uint8_t pca9685_set_subaddress_3(pca9685_handle_t *handle, uint8_t addr)
1324{
1325 uint8_t res;
1326
1327 if (handle == NULL) /* check handle */
1328 {
1329 return 2; /* return error */
1330 }
1331 if (handle->inited != 1) /* check handle initialization */
1332 {
1333 return 3; /* return error */
1334 }
1335
1336 res = handle->iic_write(handle->iic_addr, PCA9685_REG_SUBADR3, (uint8_t *)&addr, 1); /* write sub address 3 register */
1337 if (res != 0) /* check result */
1338 {
1339 handle->debug_print("pcf8591: write sub address 3 register failed.\n"); /* write sub address 3 register failed */
1340
1341 return 1; /* return error */
1342 }
1343
1344 return 0; /* success return 0 */
1345}
1346
1358uint8_t pca9685_get_subaddress_3(pca9685_handle_t *handle, uint8_t *addr)
1359{
1360 uint8_t res;
1361
1362 if (handle == NULL) /* check handle */
1363 {
1364 return 2; /* return error */
1365 }
1366 if (handle->inited != 1) /* check handle initialization */
1367 {
1368 return 3; /* return error */
1369 }
1370
1371 res = handle->iic_read(handle->iic_addr, PCA9685_REG_SUBADR3, (uint8_t *)addr, 1); /* read sub address 3 register */
1372 if (res != 0) /* check result */
1373 {
1374 handle->debug_print("pcf8591: read sub address 3 register failed.\n"); /* read sub address 3 register failed */
1375
1376 return 1; /* return error */
1377 }
1378
1379 return 0; /* success return 0 */
1380}
1381
1393uint8_t pca9685_set_all_call_address(pca9685_handle_t *handle, uint8_t addr)
1394{
1395 uint8_t res;
1396
1397 if (handle == NULL) /* check handle */
1398 {
1399 return 2; /* return error */
1400 }
1401 if (handle->inited != 1) /* check handle initialization */
1402 {
1403 return 3; /* return error */
1404 }
1405
1406 res = handle->iic_write(handle->iic_addr, PCA9685_REG_ALLCALLADR, (uint8_t *)&addr, 1); /* write all call address register */
1407 if (res != 0) /* check result */
1408 {
1409 handle->debug_print("pcf8591: write all call address register failed.\n"); /* write all call address register failed */
1410
1411 return 1; /* return error */
1412 }
1413
1414 return 0; /* success return 0 */
1415}
1416
1428uint8_t pca9685_get_all_call_address(pca9685_handle_t *handle, uint8_t *addr)
1429{
1430 uint8_t res;
1431
1432 if (handle == NULL) /* check handle */
1433 {
1434 return 2; /* return error */
1435 }
1436 if (handle->inited != 1) /* check handle initialization */
1437 {
1438 return 3; /* return error */
1439 }
1440
1441 res = handle->iic_read(handle->iic_addr, PCA9685_REG_ALLCALLADR, (uint8_t *)addr, 1); /* read all call address register */
1442 if (res != 0) /* check result */
1443 {
1444 handle->debug_print("pcf8591: read all call address register failed.\n"); /* read all call address register failed */
1445
1446 return 1; /* return error */
1447 }
1448
1449 return 0; /* success return 0 */
1450}
1451
1466uint8_t pca9685_write_channel(pca9685_handle_t *handle, pca9685_channel_t channel, uint16_t on_count, uint16_t off_count)
1467{
1468 uint8_t res;
1469 uint8_t buf[4];
1470
1471 if (handle == NULL) /* check handle */
1472 {
1473 return 2; /* return error */
1474 }
1475 if (handle->inited != 1) /* check handle initialization */
1476 {
1477 return 3; /* return error */
1478 }
1479 if ((on_count > 4096) || (off_count > 4096)) /* check result */
1480 {
1481 handle->debug_print("pcf8591: on_count or off_count is over 4096.\n"); /* on_count or off_count is over 4096 */
1482
1483 return 4; /* return error */
1484 }
1485
1486 buf[0] = (on_count >> 0) & 0xFF; /* set off count lsb */
1487 buf[1] = (on_count >> 8) & 0x1F; /* set on count msb */
1488 buf[2] = (off_count >> 0) & 0xFF; /* set off count lsb */
1489 buf[3] = (off_count >> 8) & 0x1F; /* set off count msb */
1490 res = handle->iic_write(handle->iic_addr, (uint8_t)(PCA9685_REG_LED0_ON_L + channel * 4),
1491 (uint8_t *)buf, 4); /* write led register */
1492 if (res != 0) /* check result */
1493 {
1494 handle->debug_print("pcf8591: write led register failed.\n"); /* write led register failed */
1495
1496 return 1; /* return error */
1497 }
1498
1499 return 0; /* success return 0 */
1500}
1501
1515uint8_t pca9685_read_channel(pca9685_handle_t *handle, pca9685_channel_t channel, uint16_t *on_count, uint16_t *off_count)
1516{
1517 uint8_t res;
1518 uint8_t buf[4];
1519
1520 if (handle == NULL) /* check handle */
1521 {
1522 return 2; /* return error */
1523 }
1524 if (handle->inited != 1) /* check handle initialization */
1525 {
1526 return 3; /* return error */
1527 }
1528
1529 memset(buf, 0, sizeof(uint8_t) * 4); /* clear the buffer */
1530 res = handle->iic_read(handle->iic_addr, (uint8_t)(PCA9685_REG_LED0_ON_L + channel * 4),
1531 (uint8_t *)buf, 4); /* read led register */
1532 if (res != 0) /* check result */
1533 {
1534 handle->debug_print("pcf8591: read led register failed.\n"); /* read led register failed */
1535
1536 return 1; /* return error */
1537 }
1538 *on_count = ((uint16_t)(buf[1]) & 0x1F) << 8 | buf[0]; /* set on count */
1539 *off_count = ((uint16_t)(buf[3]) & 0x1F) << 8 | buf[2]; /* set off count */
1540
1541 return 0; /* success return 0 */
1542}
1543
1557uint8_t pca9685_write_all_channel(pca9685_handle_t *handle, uint16_t on_count, uint16_t off_count)
1558{
1559 uint8_t res;
1560 uint8_t buf[4];
1561
1562 if (handle == NULL) /* check handle */
1563 {
1564 return 2; /* return error */
1565 }
1566 if (handle->inited != 1) /* check handle initialization */
1567 {
1568 return 3; /* return error */
1569 }
1570 if ((on_count > 4096) || (off_count > 4096)) /* check result */
1571 {
1572 handle->debug_print("pcf8591: on_count or off_count is over 4096.\n"); /* on_count or off_count is over 4096 */
1573
1574 return 4; /* return error */
1575 }
1576
1577 buf[0] = (on_count >> 0) & 0xFF; /* set off count lsb */
1578 buf[1] = (on_count >> 8) & 0x1F; /* set on count msb */
1579 buf[2] = (off_count >> 0) & 0xFF; /* set off count lsb */
1580 buf[3] = (off_count >> 8) & 0x1F; /* set off count msb */
1581 res = handle->iic_write(handle->iic_addr, PCA9685_REG_ALL_LED_ON_L, (uint8_t *)buf, 4); /* write all led register */
1582 if (res != 0) /* check result */
1583 {
1584 handle->debug_print("pcf8591: write all led register failed.\n"); /* write all led register failed */
1585
1586 return 1; /* return error */
1587 }
1588
1589 return 0; /* success return 0 */
1590}
1591
1604uint8_t pca9685_set_prescaler(pca9685_handle_t *handle, uint8_t prescaler)
1605{
1606 uint8_t res;
1607
1608 if (handle == NULL) /* check handle */
1609 {
1610 return 2; /* return error */
1611 }
1612 if (handle->inited != 1) /* check handle initialization */
1613 {
1614 return 3; /* return error */
1615 }
1616 if (prescaler < 3) /* check result */
1617 {
1618 handle->debug_print("pcf8591: pre scale must be >= 3.\n"); /* pre scale must be >= 3 */
1619
1620 return 4; /* return error */
1621 }
1622
1623 res = handle->iic_write(handle->iic_addr, PCA9685_REG_PRE_SCALE, (uint8_t *)&prescaler, 1); /* write pre scale register */
1624 if (res != 0) /* check result */
1625 {
1626 handle->debug_print("pcf8591: write pre scale register failed.\n"); /* write pre scale register failed */
1627
1628 return 1; /* return error */
1629 }
1630
1631 return 0; /* success return 0 */
1632}
1633
1645uint8_t pca9685_get_prescaler(pca9685_handle_t *handle, uint8_t *prescaler)
1646{
1647 uint8_t res;
1648
1649 if (handle == NULL) /* check handle */
1650 {
1651 return 2; /* return error */
1652 }
1653 if (handle->inited != 1) /* check handle initialization */
1654 {
1655 return 3; /* return error */
1656 }
1657
1658 res = handle->iic_read(handle->iic_addr, PCA9685_REG_PRE_SCALE, (uint8_t *)prescaler, 1); /* read pre scale register */
1659 if (res != 0) /* check result */
1660 {
1661 handle->debug_print("pcf8591: read pre scale register failed.\n"); /* read pre scale register failed */
1662
1663 return 1; /* return error */
1664 }
1665
1666 return 0; /* success return 0 */
1667}
1668
1681uint8_t pca9685_output_frequency_convert_to_register(pca9685_handle_t *handle, uint32_t oscillator, uint16_t output_freq, uint8_t *reg)
1682{
1683 if (handle == NULL) /* check handle */
1684 {
1685 return 2; /* return error */
1686 }
1687 if (handle->inited != 1) /* check handle initialization */
1688 {
1689 return 3; /* return error */
1690 }
1691
1692 *reg = (uint8_t)(round((double)oscillator / ((double)output_freq * 4096.0))) - 1; /* convert real data to register data */
1693
1694 return 0; /* success return 0 */
1695}
1696
1709uint8_t pca9685_output_frequency_convert_to_data(pca9685_handle_t *handle, uint32_t oscillator, uint8_t reg, uint16_t *output_freq)
1710{
1711 if (handle == NULL) /* check handle */
1712 {
1713 return 2; /* return error */
1714 }
1715 if (handle->inited != 1) /* check handle initialization */
1716 {
1717 return 3; /* return error */
1718 }
1719
1720 *output_freq = (uint16_t)(round((double)oscillator / ((reg + 1) * 4096.0))); /* convert raw data to real data */
1721
1722 return 0; /* success return 0 */
1723}
1724
1741uint8_t pca9685_pwm_convert_to_register(pca9685_handle_t *handle, float delay_percent, float high_duty_cycle_percent,
1742 uint16_t *on_count, uint16_t *off_count)
1743{
1744 if (handle == NULL) /* check handle */
1745 {
1746 return 2; /* return error */
1747 }
1748 if (handle->inited != 1) /* check handle initialization */
1749 {
1750 return 3; /* return error */
1751 }
1752 if (delay_percent + high_duty_cycle_percent >=100.0f) /* check result */
1753 {
1754 handle->debug_print("pcf8591: delay_percent + high_duty_cycle_percent can't be over 100.0.\n"); /* delay_percent + high_duty_cycle_percent can't be over 100.0 */
1755
1756 return 4; /* return error */
1757 }
1758
1759 *on_count = (uint16_t)(roundf(delay_percent / 100.0f * 4096.0f)); /* set on count */
1760 *off_count = (uint16_t)(roundf((delay_percent + high_duty_cycle_percent) / 100.0f * 4096.0f)); /* set off count */
1761
1762 return 0; /* success return 0 */
1763}
1764
1779uint8_t pca9685_pwm_convert_to_data(pca9685_handle_t *handle, uint16_t on_count, uint16_t off_count,
1780 float *delay_percent, float *high_duty_cycle_percent)
1781{
1782 if (handle == NULL) /* check handle */
1783 {
1784 return 2; /* return error */
1785 }
1786 if (handle->inited != 1) /* check handle initialization */
1787 {
1788 return 3; /* return error */
1789 }
1790 if ((on_count > 4096) || (off_count > 4096)) /* check result */
1791 {
1792 handle->debug_print("pcf8591: on_count or off_count is over 4096.\n"); /* on_count or off_count is over 4096 */
1793
1794 return 4; /* return error */
1795 }
1796
1797 *delay_percent = (float)(on_count) / 4096.0f * 100.0f; /* set the delay_percent */
1798 *high_duty_cycle_percent = (float)(off_count - on_count) / 4096.0f * 100.0f; /* set the high_duty_cycle_percent */
1799
1800 return 0; /* success return 0 */
1801}
1802
1814uint8_t pca9685_init(pca9685_handle_t *handle)
1815{
1816 uint8_t res, prev;
1817
1818 if (handle == NULL) /* check handle */
1819 {
1820 return 2; /* return error */
1821 }
1822 if (handle->debug_print == NULL) /* check debug_print */
1823 {
1824 return 3; /* return error */
1825 }
1826 if (handle->iic_init == NULL) /* check iic_init */
1827 {
1828 handle->debug_print("pca9685: iic_init is null.\n"); /* iic_init is null */
1829
1830 return 3; /* return error */
1831 }
1832 if (handle->iic_deinit == NULL) /* check iic_deinit */
1833 {
1834 handle->debug_print("pca9685: iic_deinit is null.\n"); /* iic_deinit is null */
1835
1836 return 3; /* return error */
1837 }
1838 if (handle->iic_read == NULL) /* check iic_read */
1839 {
1840 handle->debug_print("pca9685: iic_read is null.\n"); /* iic_read is null */
1841
1842 return 3; /* return error */
1843 }
1844 if (handle->iic_write == NULL) /* check iic_write */
1845 {
1846 handle->debug_print("pca9685: iic_write is null.\n"); /* iic_write is null */
1847
1848 return 3; /* return error */
1849 }
1850 if (handle->oe_gpio_init == NULL) /* check oe_gpio_init */
1851 {
1852 handle->debug_print("pca9685: oe_gpio_init is null.\n"); /* oe_gpio_init is null */
1853
1854 return 3; /* return error */
1855 }
1856 if (handle->oe_gpio_deinit == NULL) /* check oe_gpio_deinit */
1857 {
1858 handle->debug_print("pca9685: oe_gpio_deinit is null.\n"); /* oe_gpio_deinit is null */
1859
1860 return 3; /* return error */
1861 }
1862 if (handle->oe_gpio_write == NULL) /* check oe_gpio_write */
1863 {
1864 handle->debug_print("pca9685: oe_gpio_write is null.\n"); /* oe_gpio_write is null */
1865
1866 return 3; /* return error */
1867 }
1868
1869 if (handle->iic_init() != 0) /* iic init */
1870 {
1871 handle->debug_print("pca9685: iic init failed.\n"); /* iic init failed */
1872
1873 return 1; /* return error */
1874 }
1875 if (handle->oe_gpio_init() != 0) /* oe gpio init */
1876 {
1877 handle->debug_print("pca9685: oe gpio init failed.\n"); /* oe gpio init failed */
1878 (void)handle->iic_deinit(); /* iic deinit */
1879
1880 return 1; /* return error */
1881 }
1882
1883 res = handle->iic_read(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* read mode 1 register */
1884 if (res != 0) /* check result */
1885 {
1886 handle->debug_print("pcf8591: read mode 1 register failed.\n"); /* read mode 1 register failed */
1887 (void)handle->oe_gpio_deinit(); /* oe gpio deinit */
1888 (void)handle->iic_deinit(); /* iic deinit */
1889
1890 return 4; /* return error */
1891 }
1892 if ((prev & 0x80) != 0) /* check reset bit */
1893 {
1894 prev &= ~(1 << 4); /* clear sleep bit */
1895 res = handle->iic_write(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* write mode 1 register */
1896 if (res != 0) /* check result */
1897 {
1898 handle->debug_print("pcf8591: write mode 1 register failed.\n"); /* write mode 1 register failed */
1899 (void)handle->oe_gpio_deinit(); /* oe gpio deinit */
1900 (void)handle->iic_deinit(); /* iic deinit */
1901
1902 return 4; /* return error */
1903 }
1904 handle->delay_ms(2); /* delay 2 ms */
1905 }
1906 prev |= (1 << 7); /* set reset bit */
1907 prev &= ~(1 << 6); /* clear extern clock bit */
1908 prev &= ~(1 << 4); /* clear sleep bit */
1909 res = handle->iic_write(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* write mode 1 register */
1910 if (res != 0) /* check result */
1911 {
1912 handle->debug_print("pcf8591: write mode 1 register failed.\n"); /* write mode 1 register failed */
1913 (void)handle->oe_gpio_deinit(); /* oe gpio deinit */
1914 (void)handle->iic_deinit(); /* iic deinit */
1915
1916 return 4; /* return error */
1917 }
1918 handle->delay_ms(2); /* delay 2 ms */
1919 handle->inited = 1; /* flag finish initialization */
1920
1921 return 0; /* success return 0 */
1922}
1923
1935uint8_t pca9685_deinit(pca9685_handle_t *handle)
1936{
1937 uint8_t res, prev;
1938
1939 if (handle == NULL) /* check handle */
1940 {
1941 return 2; /* return error */
1942 }
1943 if (handle->inited != 1) /* check handle initialization */
1944 {
1945 return 3; /* return error */
1946 }
1947
1948 res = handle->iic_read(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* read mode 1 register */
1949 if (res != 0) /* check result */
1950 {
1951 handle->debug_print("pcf8591: power down failed failed.\n"); /* power down failed */
1952
1953 return 1; /* return error */
1954 }
1955 prev |= (1 << 4); /* set sleep bit */
1956 res = handle->iic_write(handle->iic_addr, PCA9685_REG_MODE1, (uint8_t *)&prev, 1); /* write mode 1 register */
1957 if (res != 0) /* check result */
1958 {
1959 handle->debug_print("pcf8591: power down failed failed.\n"); /* power down failed */
1960
1961 return 1; /* return error */
1962 }
1963 if (handle->oe_gpio_deinit() != 0) /* oe gpio deinit */
1964 {
1965 handle->debug_print("pcf8591: oe gpio deinit failed.\n"); /* oe gpio deinit failed */
1966
1967 return 4; /* return error */
1968 }
1969 if (handle->iic_deinit() != 0) /* iic deinit */
1970 {
1971 handle->debug_print("pcf8591: iic deinit failed.\n"); /* iic deinit failed */
1972
1973 return 4; /* return error */
1974 }
1975 handle->inited = 0; /* set closed flag */
1976
1977 return 0; /* success return 0 */
1978}
1979
1993uint8_t pca9685_set_reg(pca9685_handle_t *handle, uint8_t reg, uint8_t *buf, uint16_t len)
1994{
1995 if (handle == NULL) /* check handle */
1996 {
1997 return 2; /* return error */
1998 }
1999 if (handle->inited != 1) /* check handle initialization */
2000 {
2001 return 3; /* return error */
2002 }
2003
2004 if (handle->iic_write(handle->iic_addr, reg, buf, len) != 0) /* write data */
2005 {
2006 return 1; /* return error */
2007 }
2008 else
2009 {
2010 return 0; /* success return 0 */
2011 }
2012}
2013
2027uint8_t pca9685_get_reg(pca9685_handle_t *handle, uint8_t reg, uint8_t *buf, uint16_t len)
2028{
2029 if (handle == NULL) /* check handle */
2030 {
2031 return 2; /* return error */
2032 }
2033 if (handle->inited != 1) /* check handle initialization */
2034 {
2035 return 3; /* return error */
2036 }
2037
2038 if (handle->iic_read(handle->iic_addr, reg, buf, len) != 0) /* read data */
2039 {
2040 return 1; /* return error */
2041 }
2042 else
2043 {
2044 return 0; /* success return 0 */
2045 }
2046}
2047
2056uint8_t pca9685_info(pca9685_info_t *info)
2057{
2058 if (info == NULL) /* check handle */
2059 {
2060 return 2; /* return error */
2061 }
2062
2063 memset(info, 0, sizeof(pca9685_info_t)); /* initialize pca9685 info structure */
2064 strncpy(info->chip_name, CHIP_NAME, 32); /* copy chip name */
2065 strncpy(info->manufacturer_name, MANUFACTURER_NAME, 32); /* copy manufacturer name */
2066 strncpy(info->interface, "IIC", 8); /* copy interface name */
2067 info->supply_voltage_min_v = SUPPLY_VOLTAGE_MIN; /* set minimal supply voltage */
2068 info->supply_voltage_max_v = SUPPLY_VOLTAGE_MAX; /* set maximum supply voltage */
2069 info->max_current_ma = MAX_CURRENT; /* set maximum current */
2070 info->temperature_max = TEMPERATURE_MAX; /* set minimal temperature */
2071 info->temperature_min = TEMPERATURE_MIN; /* set maximum temperature */
2072 info->driver_version = DRIVER_VERSION; /* set driver version */
2073
2074 return 0; /* success return 0 */
2075}
PCA9685_REG_SUBADR3
#define PCA9685_REG_SUBADR3
Definition driver_pca9685.c:59
MAX_CURRENT
#define MAX_CURRENT
Definition driver_pca9685.c:47
PCA9685_REG_ALL_LED_ON_L
#define PCA9685_REG_ALL_LED_ON_L
Definition driver_pca9685.c:65
SUPPLY_VOLTAGE_MAX
#define SUPPLY_VOLTAGE_MAX
Definition driver_pca9685.c:46
PCA9685_REG_MODE2
#define PCA9685_REG_MODE2
Definition driver_pca9685.c:56
PCA9685_REG_SUBADR1
#define PCA9685_REG_SUBADR1
Definition driver_pca9685.c:57
PCA9685_REG_MODE1
#define PCA9685_REG_MODE1
chip register definition
Definition driver_pca9685.c:55
TEMPERATURE_MAX
#define TEMPERATURE_MAX
Definition driver_pca9685.c:49
PCA9685_REG_SUBADR2
#define PCA9685_REG_SUBADR2
Definition driver_pca9685.c:58
PCA9685_REG_PRE_SCALE
#define PCA9685_REG_PRE_SCALE
Definition driver_pca9685.c:69
MANUFACTURER_NAME
#define MANUFACTURER_NAME
Definition driver_pca9685.c:44
TEMPERATURE_MIN
#define TEMPERATURE_MIN
Definition driver_pca9685.c:48
SUPPLY_VOLTAGE_MIN
#define SUPPLY_VOLTAGE_MIN
Definition driver_pca9685.c:45
PCA9685_REG_LED0_ON_L
#define PCA9685_REG_LED0_ON_L
Definition driver_pca9685.c:61
CHIP_NAME
#define CHIP_NAME
chip information definition
Definition driver_pca9685.c:43
DRIVER_VERSION
#define DRIVER_VERSION
Definition driver_pca9685.c:50
PCA9685_REG_ALLCALLADR
#define PCA9685_REG_ALLCALLADR
Definition driver_pca9685.c:60
driver_pca9685.h
driver pca9685 header file
pca9685_pwm_convert_to_register
uint8_t pca9685_pwm_convert_to_register(pca9685_handle_t *handle, float delay_percent, float high_duty_cycle_percent, uint16_t *on_count, uint16_t *off_count)
convert the pwm to the register raw data
Definition driver_pca9685.c:1741
pca9685_set_prescaler
uint8_t pca9685_set_prescaler(pca9685_handle_t *handle, uint8_t prescaler)
set the clock pres cale
Definition driver_pca9685.c:1604
pca9685_write_channel
uint8_t pca9685_write_channel(pca9685_handle_t *handle, pca9685_channel_t channel, uint16_t on_count, uint16_t off_count)
write led channels
Definition driver_pca9685.c:1466
pca9685_bool_t
pca9685_bool_t
pca9685 bool enumeration definition
Definition driver_pca9685.h:141
pca9685_get_subaddress_1
uint8_t pca9685_get_subaddress_1(pca9685_handle_t *handle, uint8_t *addr)
get the sub address 1
Definition driver_pca9685.c:1218
pca9685_write_all_channel
uint8_t pca9685_write_all_channel(pca9685_handle_t *handle, uint16_t on_count, uint16_t off_count)
write all led channels
Definition driver_pca9685.c:1557
pca9685_address_t
pca9685_address_t
pca9685 address enumeration definition
Definition driver_pca9685.h:70
pca9685_get_addr_pin
uint8_t pca9685_get_addr_pin(pca9685_handle_t *handle, pca9685_address_t *addr_pin)
get the address pin
Definition driver_pca9685.c:102
pca9685_set_addr
uint8_t pca9685_set_addr(pca9685_handle_t *handle, uint8_t addr)
set the address
Definition driver_pca9685.c:123
pca9685_get_respond_all_call
uint8_t pca9685_get_respond_all_call(pca9685_handle_t *handle, pca9685_bool_t *enable)
get the respond all call status
Definition driver_pca9685.c:818
pca9685_handle_t
struct pca9685_handle_s pca9685_handle_t
pca9685 handle structure definition
pca9685_set_respond_all_call
uint8_t pca9685_set_respond_all_call(pca9685_handle_t *handle, pca9685_bool_t enable)
enable or disable respond all call
Definition driver_pca9685.c:773
pca9685_init
uint8_t pca9685_init(pca9685_handle_t *handle)
initialize the chip
Definition driver_pca9685.c:1814
pca9685_set_active
uint8_t pca9685_set_active(pca9685_handle_t *handle, pca9685_bool_t enable)
set the chip active
Definition driver_pca9685.c:167
pca9685_get_output_change
uint8_t pca9685_get_output_change(pca9685_handle_t *handle, pca9685_output_change_t *change)
get the output change type
Definition driver_pca9685.c:982
pca9685_get_all_call_address
uint8_t pca9685_get_all_call_address(pca9685_handle_t *handle, uint8_t *addr)
set the all call address
Definition driver_pca9685.c:1428
pca9685_set_addr_pin
uint8_t pca9685_set_addr_pin(pca9685_handle_t *handle, pca9685_address_t addr_pin)
set the address pin
Definition driver_pca9685.c:80
pca9685_get_external_clock_pin
uint8_t pca9685_get_external_clock_pin(pca9685_handle_t *handle, pca9685_bool_t *enable)
get the external clock pin status
Definition driver_pca9685.c:326
pca9685_output_disable_type_t
pca9685_output_disable_type_t
pca9685 output disable type enumeration definition
Definition driver_pca9685.h:168
pca9685_get_restart
uint8_t pca9685_get_restart(pca9685_handle_t *handle, pca9685_bool_t *enable)
get the restart status
Definition driver_pca9685.c:244
pca9685_set_output_driver
uint8_t pca9685_set_output_driver(pca9685_handle_t *handle, pca9685_output_driver_t driver)
set the output driver type
Definition driver_pca9685.c:1019
pca9685_set_respond_subaddress_2
uint8_t pca9685_set_respond_subaddress_2(pca9685_handle_t *handle, pca9685_bool_t enable)
enable or disable respond sub address 2
Definition driver_pca9685.c:609
pca9685_get_prescaler
uint8_t pca9685_get_prescaler(pca9685_handle_t *handle, uint8_t *prescaler)
get the clock pre scale
Definition driver_pca9685.c:1645
pca9685_get_addr
uint8_t pca9685_get_addr(pca9685_handle_t *handle, uint8_t *addr)
get the address
Definition driver_pca9685.c:144
pca9685_get_sleep_mode
uint8_t pca9685_get_sleep_mode(pca9685_handle_t *handle, pca9685_bool_t *enable)
get the sleep mode status
Definition driver_pca9685.c:490
pca9685_set_output_disable_type
uint8_t pca9685_set_output_disable_type(pca9685_handle_t *handle, pca9685_output_disable_type_t type)
set the output disable type
Definition driver_pca9685.c:1101
pca9685_get_subaddress_3
uint8_t pca9685_get_subaddress_3(pca9685_handle_t *handle, uint8_t *addr)
get the sub address 3
Definition driver_pca9685.c:1358
pca9685_read_channel
uint8_t pca9685_read_channel(pca9685_handle_t *handle, pca9685_channel_t channel, uint16_t *on_count, uint16_t *off_count)
read led channels
Definition driver_pca9685.c:1515
pca9685_get_output_driver
uint8_t pca9685_get_output_driver(pca9685_handle_t *handle, pca9685_output_driver_t *driver)
get the output driver type
Definition driver_pca9685.c:1064
pca9685_set_subaddress_2
uint8_t pca9685_set_subaddress_2(pca9685_handle_t *handle, uint8_t addr)
set the sub address 2
Definition driver_pca9685.c:1253
pca9685_output_frequency_convert_to_register
uint8_t pca9685_output_frequency_convert_to_register(pca9685_handle_t *handle, uint32_t oscillator, uint16_t output_freq, uint8_t *reg)
convert the output frequency to the register raw data
Definition driver_pca9685.c:1681
pca9685_set_register_auto_increment
uint8_t pca9685_set_register_auto_increment(pca9685_handle_t *handle, pca9685_bool_t enable)
enable or disable the register auto increment
Definition driver_pca9685.c:363
pca9685_set_respond_subaddress_3
uint8_t pca9685_set_respond_subaddress_3(pca9685_handle_t *handle, pca9685_bool_t enable)
enable or disable respond sub address 3
Definition driver_pca9685.c:691
pca9685_info
uint8_t pca9685_info(pca9685_info_t *info)
get chip's information
Definition driver_pca9685.c:2056
pca9685_set_output_invert
uint8_t pca9685_set_output_invert(pca9685_handle_t *handle, pca9685_bool_t enable)
enable or disable output invert
Definition driver_pca9685.c:855
pca9685_get_respond_subaddress_2
uint8_t pca9685_get_respond_subaddress_2(pca9685_handle_t *handle, pca9685_bool_t *enable)
get the respond sub address 2 status
Definition driver_pca9685.c:654
pca9685_get_subaddress_2
uint8_t pca9685_get_subaddress_2(pca9685_handle_t *handle, uint8_t *addr)
get the sub address 2
Definition driver_pca9685.c:1288
pca9685_channel_t
pca9685_channel_t
pca9685 channel enumeration definition
Definition driver_pca9685.h:179
pca9685_get_output_disable_type
uint8_t pca9685_get_output_disable_type(pca9685_handle_t *handle, pca9685_output_disable_type_t *type)
get the output disable type
Definition driver_pca9685.c:1146
pca9685_set_subaddress_1
uint8_t pca9685_set_subaddress_1(pca9685_handle_t *handle, uint8_t addr)
set the sub address 1
Definition driver_pca9685.c:1183
pca9685_set_restart
uint8_t pca9685_set_restart(pca9685_handle_t *handle, pca9685_bool_t enable)
enable or disable restart
Definition driver_pca9685.c:199
pca9685_output_frequency_convert_to_data
uint8_t pca9685_output_frequency_convert_to_data(pca9685_handle_t *handle, uint32_t oscillator, uint8_t reg, uint16_t *output_freq)
convert the register raw data to the output frequency
Definition driver_pca9685.c:1709
pca9685_output_driver_t
pca9685_output_driver_t
pca9685 output driver enumeration definition
Definition driver_pca9685.h:159
pca9685_pwm_convert_to_data
uint8_t pca9685_pwm_convert_to_data(pca9685_handle_t *handle, uint16_t on_count, uint16_t off_count, float *delay_percent, float *high_duty_cycle_percent)
convert the register raw data to the pwm
Definition driver_pca9685.c:1779
pca9685_set_sleep_mode
uint8_t pca9685_set_sleep_mode(pca9685_handle_t *handle, pca9685_bool_t enable)
enable or disable the sleep mode
Definition driver_pca9685.c:445
pca9685_info_t
struct pca9685_info_s pca9685_info_t
pca9685 information structure definition
pca9685_get_respond_subaddress_1
uint8_t pca9685_get_respond_subaddress_1(pca9685_handle_t *handle, pca9685_bool_t *enable)
get the respond sub address 1 status
Definition driver_pca9685.c:572
pca9685_get_output_invert
uint8_t pca9685_get_output_invert(pca9685_handle_t *handle, pca9685_bool_t *enable)
get the output invert status
Definition driver_pca9685.c:900
pca9685_set_external_clock_pin
uint8_t pca9685_set_external_clock_pin(pca9685_handle_t *handle, pca9685_bool_t enable)
enable or disable the external clock pin
Definition driver_pca9685.c:281
pca9685_output_change_t
pca9685_output_change_t
pca9685 output change enumeration definition
Definition driver_pca9685.h:150
pca9685_deinit
uint8_t pca9685_deinit(pca9685_handle_t *handle)
close the chip
Definition driver_pca9685.c:1935
pca9685_get_respond_subaddress_3
uint8_t pca9685_get_respond_subaddress_3(pca9685_handle_t *handle, pca9685_bool_t *enable)
get the respond sub address 3 status
Definition driver_pca9685.c:736
pca9685_set_respond_subaddress_1
uint8_t pca9685_set_respond_subaddress_1(pca9685_handle_t *handle, pca9685_bool_t enable)
enable or disable respond sub address 1
Definition driver_pca9685.c:527
pca9685_set_subaddress_3
uint8_t pca9685_set_subaddress_3(pca9685_handle_t *handle, uint8_t addr)
set the sub address 3
Definition driver_pca9685.c:1323
pca9685_set_all_call_address
uint8_t pca9685_set_all_call_address(pca9685_handle_t *handle, uint8_t addr)
set the all call address
Definition driver_pca9685.c:1393
pca9685_set_output_change
uint8_t pca9685_set_output_change(pca9685_handle_t *handle, pca9685_output_change_t change)
set the output change type
Definition driver_pca9685.c:937
pca9685_get_register_auto_increment
uint8_t pca9685_get_register_auto_increment(pca9685_handle_t *handle, pca9685_bool_t *enable)
get the register auto increment status
Definition driver_pca9685.c:408
pca9685_set_reg
uint8_t pca9685_set_reg(pca9685_handle_t *handle, uint8_t reg, uint8_t *buf, uint16_t len)
set the chip register
Definition driver_pca9685.c:1993
pca9685_get_reg
uint8_t pca9685_get_reg(pca9685_handle_t *handle, uint8_t reg, uint8_t *buf, uint16_t len)
get the chip register
Definition driver_pca9685.c:2027
pca9685_handle_s::inited
uint8_t inited
Definition driver_pca9685.h:213
pca9685_handle_s::delay_ms
void(* delay_ms)(uint32_t ms)
Definition driver_pca9685.h:211
pca9685_handle_s::oe_gpio_init
uint8_t(* oe_gpio_init)(void)
Definition driver_pca9685.h:208
pca9685_handle_s::debug_print
void(* debug_print)(const char *const fmt,...)
Definition driver_pca9685.h:212
pca9685_handle_s::iic_init
uint8_t(* iic_init)(void)
Definition driver_pca9685.h:204
pca9685_handle_s::oe_gpio_deinit
uint8_t(* oe_gpio_deinit)(void)
Definition driver_pca9685.h:209
pca9685_handle_s::oe_gpio_write
uint8_t(* oe_gpio_write)(uint8_t value)
Definition driver_pca9685.h:210
pca9685_handle_s::iic_write
uint8_t(* iic_write)(uint8_t addr, uint8_t reg, uint8_t *buf, uint16_t len)
Definition driver_pca9685.h:207
pca9685_handle_s::iic_addr
uint8_t iic_addr
Definition driver_pca9685.h:203
pca9685_handle_s::iic_read
uint8_t(* iic_read)(uint8_t addr, uint8_t reg, uint8_t *buf, uint16_t len)
Definition driver_pca9685.h:206
pca9685_handle_s::iic_deinit
uint8_t(* iic_deinit)(void)
Definition driver_pca9685.h:205
pca9685_info_s::temperature_max
float temperature_max
Definition driver_pca9685.h:228
pca9685_info_s::supply_voltage_max_v
float supply_voltage_max_v
Definition driver_pca9685.h:225
pca9685_info_s::driver_version
uint32_t driver_version
Definition driver_pca9685.h:229
pca9685_info_s::temperature_min
float temperature_min
Definition driver_pca9685.h:227
pca9685_info_s::max_current_ma
float max_current_ma
Definition driver_pca9685.h:226
pca9685_info_s::manufacturer_name
char manufacturer_name[32]
Definition driver_pca9685.h:222
pca9685_info_s::supply_voltage_min_v
float supply_voltage_min_v
Definition driver_pca9685.h:224
pca9685_info_s::interface
char interface[8]
Definition driver_pca9685.h:223
pca9685_info_s::chip_name
char chip_name[32]
Definition driver_pca9685.h:221