This software is a devLib extension to wiringPi and enables it to control the Adafruit PCA9685 16-Channel 12-bit PWM/Servo Driver via I2C interface.
Copyright (c) 2019 Reinhard Sprung
If you have questions or improvements email me at reinhard.sprung[at]gmail.com
NOTE: The software could run faster because some write function read the current register value before they write to it, but it shouldn't matter in usual setups. If you need it super fast, you probably need to program your own write functions.
Enable I2C on your Raspberry Pi and make sure your PCA9685 controller board can be found. A tutorial on how to do this can be found here.
This pca9685 library requires an installed version of wiringPi.
WiringPi comes preinstalled on standard raspbian systems so check first if it is there already.
To do so, open a terminal and execute gpio -v.
If it's not installed, the easiest way is by calling sudo apt install wiringpi. If you need addidtional information or want to install from sources, check out http://wiringpi.com/download-and-install/.
NOTE: WiringPi is now deprecated and will not work out of the box on newer (≥Rpi4) boards, check out http://wiringpi.com/wiringpi-deprecated/
You can include pca9685.h and pca9685.c directly in your project or compile it and include the lib file instead.
To compile, navigate into the src folder an run
sudo make installThis will install pca9685 in your /usr/lib, /usr/local/lib and /usr/local/include directories. To include the files add the line
#include <pca9685.h>into your source code and include "wiringPiPca9685" in your linked files during compilation
There are some example files included in this repository. To compile them, cd into examples directory and make them.
To run, add a "./" before each example and execute them, e.g. ./servo.
Use
int pca9685Setup(const int pinBase, const int i2cAddress/* = 0x40*/, float freq/* = 50*/);to setup a single pca9685 device at the specified i2c address and PWM frequency.
Parameters are:
- pinBase: Use a pinBase > 64, eg. 300
- i2cAddress: The default address is 0x40
- freq: Frequency will be capped to range [40..1000] Hertz. Try 50 for servos
When successful, this will reserve 17 pins in wiringPi and return a file descriptor with which you can access advanced functions (view below).
The pca9685 pins are as follows:
[0...15]: The 16 individual output pins as numbered on the driver
[16]: All pins (Note that reading from this pin returns always 0)
Use the following wiringPi functions to read and write PWM. NOTE: Don't forget to add the pin base!
Set PWM
void pwmWrite (int pin, int value)if value <= 0, set full-off else if value >= 4096, set full-on else set PWM
Set full-on or full-off
void digitalWrite (int pin, int value)if value != 0, set full-on else set full-off
Read off-register
int digitalRead (int pin)To get PWM: mask with 0xFFF To get full-off bit: mask with 0x1000 Note: ALL_LED pin will always return 0
Read on-register
int analogRead (int pin)To get PWM: mask with 0xFFF To get full-on bit: mask with 0x1000 Note: ALL_LED pin will always return 0
NOTE: Unfortunately wiringPi doesn't offer suitable names for pca9685's functions, so we have to work with the provided ones. Masking means to bitwise-AND (operator &) the return value with the mask. E.g. & 0xFFF
int offValue = digitalRead(pinBase + 0) & 0xFFF;If you don't want to use the wiringPi functions or want to access the pca9685 directly, you can use the file descriptor returned from the setup function to access the following functions for each connected pca9685 individually. (View source code for more details)
Set output frequency in a range between 40 and 1000 Hertz
void pca9685PWMFreq(int fd, float freq);Reset all PWM output of this device to default state which is full-off
void pca9685PWMReset(int fd);Write PWM on and off values to a specific pin. (View source code)
void pca9685PWMWrite(int fd, int pin, int on, int off);
void pca9685PWMRead(int fd, int pin, int *on, int *off);Write enable or disable full-on and full-off of a specific pin. (View source code)
void pca9685FullOn(int fd, int pin, int tf);
void pca9685FullOff(int fd, int pin, int tf);