driver_pca9685_basic.c

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#include "driver_pca9685_basic.h"
 
static pca9685_handle_t gs_handle;        

uint8_t pca9685_basic_init(pca9685_address_t addr, uint16_t hz)
{
    uint8_t res;
    uint8_t reg;
    
    /* link interface function */
    DRIVER_PCA9685_LINK_INIT(&gs_handle, pca9685_handle_t);
    DRIVER_PCA9685_LINK_IIC_INIT(&gs_handle, pca9685_interface_iic_init);
    DRIVER_PCA9685_LINK_IIC_DEINIT(&gs_handle, pca9685_interface_iic_deinit);
    DRIVER_PCA9685_LINK_IIC_READ(&gs_handle, pca9685_interface_iic_read);
    DRIVER_PCA9685_LINK_IIC_WEITE(&gs_handle, pca9685_interface_iic_write);
    DRIVER_PCA9685_LINK_OE_GPIO_INIT(&gs_handle, pca9685_interface_oe_init);
    DRIVER_PCA9685_LINK_OE_GPIO_DEINIT(&gs_handle, pca9685_interface_oe_deinit);
    DRIVER_PCA9685_LINK_OE_GPIO_WRITE(&gs_handle, pca9685_interface_oe_write);
    DRIVER_PCA9685_LINK_DELAY_MS(&gs_handle, pca9685_interface_delay_ms);
    DRIVER_PCA9685_LINK_DEBUG_PRINT(&gs_handle, pca9685_interface_debug_print);
    
    /* set addr pin */
    res = pca9685_set_addr_pin(&gs_handle, addr);
    if (res != 0)
    {
        pca9685_interface_debug_print("pca9685: set addr pin failed.\n");
        
        return 1;
    }
    
    /* pca9685 init */
    res = pca9685_init(&gs_handle);
    if (res != 0)
    {
        pca9685_interface_debug_print("pca9685: init failed.\n");
        
        return 1;
    }
    
    /* inactive */
    res = pca9685_set_active(&gs_handle, PCA9685_BOOL_FALSE);
    if (res != 0)
    {
        pca9685_interface_debug_print("pca9685: set active failed.\n");
        (void)pca9685_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set sleep mode */
    res = pca9685_set_sleep_mode(&gs_handle, PCA9685_BOOL_TRUE);
    if (res != 0)
    {
        pca9685_interface_debug_print("pca9685: set sleep mode failed.\n");
        (void)pca9685_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set frequency */
    res = pca9685_output_frequency_convert_to_register(&gs_handle, PCA9685_OSCILLATOR_INTERNAL_FREQUENCY, hz, (uint8_t *)&reg);
    if (res != 0)
    {
        pca9685_interface_debug_print("pca9685: output frequency convert to register failed.\n");
        (void)pca9685_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set pre scale */
    res = pca9685_set_prescaler(&gs_handle, reg);
    if (res != 0)
    {
        pca9685_interface_debug_print("pca9685: set pre scale failed.\n");
        (void)pca9685_deinit(&gs_handle);
        
        return 1;
    }
    
    /* disable external clock pin */
    res = pca9685_set_external_clock_pin(&gs_handle, PCA9685_BOOL_FALSE);
    if (res != 0)
    {
        pca9685_interface_debug_print("pca9685: set external clock pin failed.\n");
        (void)pca9685_deinit(&gs_handle);
        
        return 1;
    }
    
    /* enable auto increment */
    res = pca9685_set_register_auto_increment(&gs_handle, PCA9685_BOOL_TRUE);
    if (res != 0)
    {
        pca9685_interface_debug_print("pca9685: set register auto increment failed.\n");
        (void)pca9685_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set respond sub address 1 */
    res = pca9685_set_respond_subaddress_1(&gs_handle, PCA9685_BASIC_DEFAULT_RESPOND_SUBADDRESS_1);
    if (res != 0)
    {
        pca9685_interface_debug_print("pca9685: set respond sub address 1 failed.\n");
        (void)pca9685_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set respond sub address 2 */
    res = pca9685_set_respond_subaddress_2(&gs_handle, PCA9685_BASIC_DEFAULT_RESPOND_SUBADDRESS_2);
    if (res != 0)
    {
        pca9685_interface_debug_print("pca9685: set respond sub address 2 failed.\n");
        (void)pca9685_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set respond sub address 3 */
    res = pca9685_set_respond_subaddress_3(&gs_handle, PCA9685_BASIC_DEFAULT_RESPOND_SUBADDRESS_2);
    if (res != 0)
    {
        pca9685_interface_debug_print("pca9685: set respond sub address 3 failed.\n");
        (void)pca9685_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set respond all call */
    res = pca9685_set_respond_all_call(&gs_handle, PCA9685_BASIC_DEFAULT_RESPOND_ALL_CALL);
    if (res != 0)
    {
        pca9685_interface_debug_print("pca9685: set respond all call failed.\n");
        (void)pca9685_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set output invert */
    res = pca9685_set_output_invert(&gs_handle, PCA9685_BASIC_DEFAULT_OUTPUT_INVERT);
    if (res != 0)
    {
        pca9685_interface_debug_print("pca9685: set output invert failed.\n");
        (void)pca9685_deinit(&gs_handle);
        
        return 1;
    }
    
    /* stop output change */
    res = pca9685_set_output_change(&gs_handle, PCA9685_BASIC_DEFAULT_OUTPUT_CHANGE);
    if (res != 0)
    {
        pca9685_interface_debug_print("pca9685: set output change failed.\n");
        (void)pca9685_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set output driver */
    res = pca9685_set_output_driver(&gs_handle, PCA9685_BASIC_DEFAULT_OUTPUT_DRIVER);
    if (res != 0)
    {
        pca9685_interface_debug_print("pca9685: set output driver failed.\n");
        (void)pca9685_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set output disable type */
    res = pca9685_set_output_disable_type(&gs_handle, PCA9685_OUTPUT_DISABLE_TYPE_HIGH_IMPEDANCE);
    if (res != 0)
    {
        pca9685_interface_debug_print("pca9685: set output disable type failed.\n");
        (void)pca9685_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set sub address 1 */
    res = pca9685_set_subaddress_1(&gs_handle, PCA9685_BASIC_DEFAULT_SUBADDRESS_1);
    if (res != 0)
    {
        pca9685_interface_debug_print("pca9685: set sub address 1 failed.\n");
        (void)pca9685_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set sub address 2 */
    res = pca9685_set_subaddress_2(&gs_handle, PCA9685_BASIC_DEFAULT_SUBADDRESS_2);
    if (res != 0)
    {
        pca9685_interface_debug_print("pca9685: set sub address 2 failed.\n");
        (void)pca9685_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set sub address 3 */
    res = pca9685_set_subaddress_3(&gs_handle, PCA9685_BASIC_DEFAULT_SUBADDRESS_3);
    if (res != 0)
    {
        pca9685_interface_debug_print("pca9685: set sub address 3 failed.\n");
        (void)pca9685_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set all call address */
    res = pca9685_set_all_call_address(&gs_handle, PCA9685_BASIC_DEFAULT_ALL_CALL_ADDRESS);
    if (res != 0)
    {
        pca9685_interface_debug_print("pca9685: set all call address failed.\n");
        (void)pca9685_deinit(&gs_handle);
        
        return 1;
    }
    
    /* set sleep mode */
    res = pca9685_set_sleep_mode(&gs_handle, PCA9685_BOOL_FALSE);
    if (res != 0)
    {
        pca9685_interface_debug_print("pca9685: set sleep mode failed.\n");
        (void)pca9685_deinit(&gs_handle);
        
        return 1;
    }
    
    /* active */
    res = pca9685_set_active(&gs_handle, PCA9685_BOOL_TRUE);
    if (res != 0)
    {
        pca9685_interface_debug_print("pca9685: set active failed.\n");
        (void)pca9685_deinit(&gs_handle);
        
        return 1;
    }
    
    return 0;
}

uint8_t pca9685_basic_deinit(void)
{
    uint8_t res;
    
    /* inactive */
    res = pca9685_set_active(&gs_handle, PCA9685_BOOL_FALSE);
    if (res != 0)
    {
        return 1;
    }
    
    /* deinit */
    res = pca9685_deinit(&gs_handle);
    if (res != 0)
    {
        return 1;
    }
    else
    {
        return 0;
    }
}

uint8_t pca9685_basic_write(pca9685_channel_t channel, float delay_percent, float high_duty_cycle_percent)
{
    uint8_t res;
    uint16_t on_count, off_count;
    
    /* convert data */
    res = pca9685_pwm_convert_to_register(&gs_handle, delay_percent, high_duty_cycle_percent, (uint16_t *)&on_count, (uint16_t *)&off_count);
    if (res != 0)
    {
        return 1;
    }
    
    /* write channel */
    res = pca9685_write_channel(&gs_handle, channel, on_count, off_count);
    if (res != 0)
    {
        return 1;
    }
    
    return 0;
}