Merge pull request #1 from adafruit/master

Local merge
adafruit · Nov 3, 2019 · 83d42b9 · 83d42b9
2 parents bb7c39a + ddbc2da
commit 83d42b9
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diff --git a/.travis.yml b/.travis.yml
@@ -1,19 +1,31 @@
 language: c
 sudo: false
-
-# Blacklist
-branches:
-  except:
-    - gh-pages
+cache:
+  directories:
+    - ~/arduino_ide
+    - ~/.arduino15/packages/
+git:
+  depth: false
+  quiet: true
 
 env:
   global:
      - PRETTYNAME="Adafruit PCA9685 PWM Servo Driver Arduino Library"
 
+addons:
+  apt:
+    sources:
+      - llvm-toolchain-trusty-5.0
+      - key_url: 'http://apt.llvm.org/llvm-snapshot.gpg.key'
+    packages:
+      - clang-format-5.0
+
 before_install:
    - source <(curl -SLs https://raw.githubusercontent.com/adafruit/travis-ci-arduino/master/install.sh)
+   - curl -SLs https://raw.githubusercontent.com/adafruit/travis-ci-arduino/master/run-clang-format.py > run-clang-format.py
 
 script:
+   - python run-clang-format.py -r .
    - build_main_platforms
 
 # Generate and deploy documentation

diff --git a/Adafruit_PWMServoDriver.cpp b/Adafruit_PWMServoDriver.cpp
@@ -30,22 +30,22 @@
 #include "Adafruit_PWMServoDriver.h"
 #include <Wire.h>
 
+//#define ENABLE_DEBUG_OUTPUT
+
 /*!
  *  @brief  Instantiates a new PCA9685 PWM driver chip with the I2C address on a
  * TwoWire interface
  */
-Adafruit_PWMServoDriver::Adafruit_PWMServoDriver():
-  _i2caddr(PCA9685_I2C_ADDRESS), _i2c(&Wire) {
-}
+Adafruit_PWMServoDriver::Adafruit_PWMServoDriver()
+    : _i2caddr(PCA9685_I2C_ADDRESS), _i2c(&Wire) {}
 
 /*!
  *  @brief  Instantiates a new PCA9685 PWM driver chip with the I2C address on a
  * TwoWire interface
  *  @param  addr The 7-bit I2C address to locate this chip, default is 0x40
  */
-Adafruit_PWMServoDriver::Adafruit_PWMServoDriver(const uint8_t addr):
-  _i2caddr(addr), _i2c(&Wire) {
-}
+Adafruit_PWMServoDriver::Adafruit_PWMServoDriver(const uint8_t addr)
+    : _i2caddr(addr), _i2c(&Wire) {}
 
 /*!
  *  @brief  Instantiates a new PCA9685 PWM driver chip with the I2C address on a
@@ -54,9 +54,9 @@ Adafruit_PWMServoDriver::Adafruit_PWMServoDriver(const uint8_t addr):
  *  @param  i2c  A reference to a 'TwoWire' object that we'll use to communicate
  *  with
  */
-Adafruit_PWMServoDriver::Adafruit_PWMServoDriver(const uint8_t addr, TwoWire& i2c) :
-  _i2caddr(addr), _i2c(&i2c) {
-}
+Adafruit_PWMServoDriver::Adafruit_PWMServoDriver(const uint8_t addr,
+                                                 TwoWire &i2c)
+    : _i2caddr(addr), _i2c(&i2c) {}
 
 /*!
  *  @brief  Setups the I2C interface and hardware
@@ -72,6 +72,8 @@ void Adafruit_PWMServoDriver::begin(uint8_t prescale) {
     // set a default frequency
     setPWMFreq(1000);
   }
+  // set the default internal frequency
+  setOscillatorFrequency(FREQUENCY_OSCILLATOR);
 }
 
 /*!
@@ -146,21 +148,17 @@ void Adafruit_PWMServoDriver::setPWMFreq(float freq) {
   Serial.println(freq);
 #endif
   // Range output modulation frequency is dependant on oscillator
-  if (freq < 1) freq = 1;
-  if (freq > 3500) freq = 3500; // Datasheet limit is 3052=50MHz/(4*4096)
-  /*
-  freq *= 0.9; // Correct for overshoot in the frequency setting (see issue #11)
-  float prescaleval = FREQUENCY_OSCILLATOR;
-  */
-  uint32_t prescaleval = FREQUENCY_CALIBRATED;
-  prescaleval /= freq; // required output modulation frequency
-  // rounding to nearest number is equal to adding 0,5 and floor to nearest number
-  prescaleval += 2048;
-  prescaleval /= 4096;
-  prescaleval -= 1;
-  if (prescaleval < PCA9685_PRESCALE_MIN) prescaleval = PCA9685_PRESCALE_MIN;
-  if (prescaleval > PCA9685_PRESCALE_MAX) prescaleval = PCA9685_PRESCALE_MAX;
-  uint8_t prescale = (uint8_t) prescaleval;
+  if (freq < 1)
+    freq = 1;
+  if (freq > 3500)
+    freq = 3500; // Datasheet limit is 3052=50MHz/(4*4096)
+
+  float prescaleval = ((_oscillator_freq / (freq * 4096.0)) + 0.5) - 1;
+  if (prescaleval < PCA9685_PRESCALE_MIN)
+    prescaleval = PCA9685_PRESCALE_MIN;
+  if (prescaleval > PCA9685_PRESCALE_MAX)
+    prescaleval = PCA9685_PRESCALE_MAX;
+  uint8_t prescale = (uint8_t)prescaleval;
 
 #ifdef ENABLE_DEBUG_OUTPUT
   Serial.print("Final pre-scale: ");
@@ -183,22 +181,21 @@ void Adafruit_PWMServoDriver::setPWMFreq(float freq) {
 }
 
 /*!
- *  @brief  Sets the output mode of the PCA9685 to either 
- *  open drain or push pull / totempole. 
+ *  @brief  Sets the output mode of the PCA9685 to either
+ *  open drain or push pull / totempole.
  *  Warning: LEDs with integrated zener diodes should
- *  only be driven in open drain mode. 
- *  @param  totempole Totempole if true, open drain if false. 
+ *  only be driven in open drain mode.
+ *  @param  totempole Totempole if true, open drain if false.
  */
-void Adafruit_PWMServoDriver::setOutputMode(bool totempole) {  
-  uint8_t oldmode = read8(PCA9685_MODE2); 
+void Adafruit_PWMServoDriver::setOutputMode(bool totempole) {
+  uint8_t oldmode = read8(PCA9685_MODE2);
   uint8_t newmode;
   if (totempole) {
     newmode = oldmode | MODE2_OUTDRV;
-  }
-  else {
+  } else {
     newmode = oldmode & ~MODE2_OUTDRV;
   }
-  write8(PCA9685_MODE2, newmode); 
+  write8(PCA9685_MODE2, newmode);
 #ifdef ENABLE_DEBUG_OUTPUT
   Serial.print("Setting output mode: ");
   Serial.print(totempole ? "totempole" : "open drain");
@@ -211,8 +208,7 @@ void Adafruit_PWMServoDriver::setOutputMode(bool totempole) {
  *  @brief  Reads set Prescale from PCA9685
  *  @return prescale value
  */
-uint8_t Adafruit_PWMServoDriver::readPrescale(void)
-{
+uint8_t Adafruit_PWMServoDriver::readPrescale(void) {
   return read8(PCA9685_PRESCALE);
 }
 
@@ -288,55 +284,74 @@ void Adafruit_PWMServoDriver::setPin(uint8_t num, uint16_t val, bool invert) {
 }
 
 /*!
- *  @brief  Sets the PWM output of one of the PCA9685 pins based on the input microseconds, output is not precise
+ *  @brief  Sets the PWM output of one of the PCA9685 pins based on the input
+ * microseconds, output is not precise
  *  @param  num One of the PWM output pins, from 0 to 15
  *  @param  Microseconds The number of Microseconds to turn the PWM output ON
  */
-void Adafruit_PWMServoDriver::writeMicroseconds(uint8_t num, uint16_t Microseconds) {
-  #ifdef ENABLE_DEBUG_OUTPUT
+void Adafruit_PWMServoDriver::writeMicroseconds(uint8_t num,
+                                                uint16_t Microseconds) {
+#ifdef ENABLE_DEBUG_OUTPUT
   Serial.print("Setting PWM Via Microseconds on output");
   Serial.print(num);
   Serial.print(": ");
   Serial.print(Microseconds);
   Serial.println("->");
-  #endif
+#endif
 
   double pulse = Microseconds;
   double pulselength;
-  pulselength = 1000000;   // 1,000,000 us per second
+  pulselength = 1000000; // 1,000,000 us per second
+
+  // Read prescale
+  uint16_t prescale = Adafruit_PWMServoDriver::readPrescale();
+
+#ifdef ENABLE_DEBUG_OUTPUT
+  Serial.print(prescale);
+  Serial.println(" PCA9685 chip prescale");
+#endif
 
-  // Read prescale and convert to frequency
-  double prescale = Adafruit_PWMServoDriver::readPrescale();
+  // Calculate the pulse for PWM based on Equation 1 from the datasheet section
+  // 7.3.5
   prescale += 1;
-  uint32_t freq = 25000000; // Chip frequency is 25MHz
-  freq /= prescale;
-  freq /= 4096; // 12 bits of resolution
-
-  #ifdef ENABLE_DEBUG_OUTPUT
-  Serial.print(freq); Serial.println(" Calculated PCA9685 chip PWM Frequency");
-  #endif
-
-  pulselength /= freq;   //  us per period from PCA9685 chip PWM Frequency using prescale reverse frequency calc
-
-  #ifdef ENABLE_DEBUG_OUTPUT
-  Serial.print(pulselength); Serial.println(" us per period");
-  #endif
-
-  pulselength /= 4096;  // 12 bits of resolution
-
-  #ifdef ENABLE_DEBUG_OUTPUT
-  Serial.print(pulselength); Serial.println(" us per bit"); 
-  #endif
+  pulselength *= prescale;
+  pulselength /= _oscillator_freq;
+
+#ifdef ENABLE_DEBUG_OUTPUT
+  Serial.print(pulselength);
+  Serial.println(" us per bit");
+#endif
 
   pulse /= pulselength;
 
-  #ifdef ENABLE_DEBUG_OUTPUT
-  Serial.print(pulse);Serial.println(" pulse for PWM"); 
-  #endif
+#ifdef ENABLE_DEBUG_OUTPUT
+  Serial.print(pulse);
+  Serial.println(" pulse for PWM");
+#endif
 
   Adafruit_PWMServoDriver::setPWM(num, 0, pulse);
 }
 
+/*!
+ *  @brief  Getter for the internally tracked oscillator used for freq
+ * calculations
+ *  @returns The frequency the PCA9685 thinks it is running at (it cannot
+ * introspect)
+ */
+uint32_t Adafruit_PWMServoDriver::getOscillatorFrequency(void) {
+  return _oscillator_freq;
+}
+
+/*!
+ *  @brief Setter for the internally tracked oscillator used for freq
+ * calculations
+ *  @param freq The frequency the PCA9685 should use for frequency calculations
+ */
+void Adafruit_PWMServoDriver::setOscillatorFrequency(uint32_t freq) {
+  _oscillator_freq = freq;
+}
+
+/******************* Low level I2C interface */
 uint8_t Adafruit_PWMServoDriver::read8(uint8_t addr) {
   _i2c->beginTransmission(_i2caddr);
   _i2c->write(addr);

diff --git a/Adafruit_PWMServoDriver.h b/Adafruit_PWMServoDriver.h
@@ -3,7 +3,8 @@
  *
  *  This is a library for our Adafruit 16-channel PWM & Servo driver.
  *
- *  Designed specifically to work with the Adafruit 16-channel PWM & Servo driver. 
+ *  Designed specifically to work with the Adafruit 16-channel PWM & Servo
+ * driver.
  *
  *  Pick one up today in the adafruit shop!
  *  ------> https://www.adafruit.com/product/815
@@ -26,57 +27,56 @@
 #include <Wire.h>
 
 // REGISTER ADDRESSES
-#define PCA9685_MODE1        0x00 /**< Mode Register 1 */
-#define PCA9685_MODE2        0x01 /**< Mode Register 2 */
-#define PCA9685_SUBADR1      0x02 /**< I2C-bus subaddress 1 */
-#define PCA9685_SUBADR2      0x03 /**< I2C-bus subaddress 2 */
-#define PCA9685_SUBADR3      0x04 /**< I2C-bus subaddress 3 */
-#define PCA9685_ALLCALLADR   0x05 /**< LED All Call I2C-bus address */
-#define PCA9685_LED0_ON_L    0x06 /**< LED0 output and brightness control byte 0 */
-#define PCA9685_LED0_ON_H    0x07 /**< LED0 output and brightness control byte 1 */
-#define PCA9685_LED0_OFF_L   0x08 /**< LED0 output and brightness control byte 2 */
-#define PCA9685_LED0_OFF_H   0x09 /**< LED0 output and brightness control byte 3 */
+#define PCA9685_MODE1 0x00      /**< Mode Register 1 */
+#define PCA9685_MODE2 0x01      /**< Mode Register 2 */
+#define PCA9685_SUBADR1 0x02    /**< I2C-bus subaddress 1 */
+#define PCA9685_SUBADR2 0x03    /**< I2C-bus subaddress 2 */
+#define PCA9685_SUBADR3 0x04    /**< I2C-bus subaddress 3 */
+#define PCA9685_ALLCALLADR 0x05 /**< LED All Call I2C-bus address */
+#define PCA9685_LED0_ON_L 0x06  /**< LED0 on tick, low byte*/
+#define PCA9685_LED0_ON_H 0x07  /**< LED0 on tick, high byte*/
+#define PCA9685_LED0_OFF_L 0x08 /**< LED0 off tick, low byte */
+#define PCA9685_LED0_OFF_H 0x09 /**< LED0 off tick, high byte */
 // etc all 16:  LED15_OFF_H 0x45
-#define PCA9685_ALLLED_ON_L  0xFA /**< load all the LEDn_ON registers, byte 0 */
-#define PCA9685_ALLLED_ON_H  0xFB /**< load all the LEDn_ON registers, byte 1 */
-#define PCA9685_ALLLED_OFF_L 0xFC /**< load all the LEDn_OFF registers, byte 0 */
-#define PCA9685_ALLLED_OFF_H 0xFD /**< load all the LEDn_OFF registers, byte 1 */
-#define PCA9685_PRESCALE     0xFE /**< Prescaler for PWM output frequency */
-#define PCA9685_TESTMODE     0xFF /**< defines the test mode to be entered */
+#define PCA9685_ALLLED_ON_L 0xFA  /**< load all the LEDn_ON registers, low */
+#define PCA9685_ALLLED_ON_H 0xFB  /**< load all the LEDn_ON registers, high */
+#define PCA9685_ALLLED_OFF_L 0xFC /**< load all the LEDn_OFF registers, low */
+#define PCA9685_ALLLED_OFF_H 0xFD /**< load all the LEDn_OFF registers,high */
+#define PCA9685_PRESCALE 0xFE     /**< Prescaler for PWM output frequency */
+#define PCA9685_TESTMODE 0xFF     /**< defines the test mode to be entered */
 
 // MODE1 bits
-#define MODE1_ALLCAL         0x01 /**< respond to LED All Call I2C-bus address */
-#define MODE1_SUB3           0x02 /**< respond to I2C-bus subaddress 3 */
-#define MODE1_SUB2           0x04 /**< respond to I2C-bus subaddress 2 */
-#define MODE1_SUB1           0x08 /**< respond to I2C-bus subaddress 1 */
-#define MODE1_SLEEP          0x10 /**< Low power mode. Oscillator off */
-#define MODE1_AI             0x20 /**< Auto-Increment enabled */
-#define MODE1_EXTCLK         0x40 /**< Use EXTCLK pin clock */
-#define MODE1_RESTART        0x80 /**< Restart enabled */
+#define MODE1_ALLCAL 0x01  /**< respond to LED All Call I2C-bus address */
+#define MODE1_SUB3 0x02    /**< respond to I2C-bus subaddress 3 */
+#define MODE1_SUB2 0x04    /**< respond to I2C-bus subaddress 2 */
+#define MODE1_SUB1 0x08    /**< respond to I2C-bus subaddress 1 */
+#define MODE1_SLEEP 0x10   /**< Low power mode. Oscillator off */
+#define MODE1_AI 0x20      /**< Auto-Increment enabled */
+#define MODE1_EXTCLK 0x40  /**< Use EXTCLK pin clock */
+#define MODE1_RESTART 0x80 /**< Restart enabled */
 // MODE2 bits
-#define MODE2_OUTNE_0        0x01 /**< Active LOW output enable input */
-#define MODE2_OUTNE_1        0x02 /**< Active LOW output enable input - high impedience */
-#define MODE2_OUTDRV         0x04 /**< totem pole structure vs open-drain */
-#define MODE2_OCH            0x08 /**< Outputs change on ACK vs STOP */
-#define MODE2_INVRT          0x10 /**< Output logic state inverted */
+#define MODE2_OUTNE_0 0x01 /**< Active LOW output enable input */
+#define MODE2_OUTNE_1                                                          \
+  0x02 /**< Active LOW output enable input - high impedience */
+#define MODE2_OUTDRV 0x04 /**< totem pole structure vs open-drain */
+#define MODE2_OCH 0x08    /**< Outputs change on ACK vs STOP */
+#define MODE2_INVRT 0x10  /**< Output logic state inverted */
 
-#define PCA9685_I2C_ADDRESS  0x40 /**< Default PCA9685 I2C Slave Address */
+#define PCA9685_I2C_ADDRESS 0x40      /**< Default PCA9685 I2C Slave Address */
+#define FREQUENCY_OSCILLATOR 25000000 /**< Int. osc. frequency in datasheet */
 
-#define FREQUENCY_OSCILLATOR 25000000 /**< Oscillator frequency cf satasheet */
-#define FREQUENCY_CALIBRATED 26075000 /**< Oscillator frequency measured at 104.3% */
-#define FREQUENCY_LEGACY     27777778 /**< Oscillator frequency using freq /= 0,9 */
-
-#define PCA9685_PRESCALE_MIN 3 /**< minimum prescale value */
+#define PCA9685_PRESCALE_MIN 3   /**< minimum prescale value */
 #define PCA9685_PRESCALE_MAX 255 /**< maximum prescale value */
 
-/*! 
- *  @brief  Class that stores state and functions for interacting with PCA9685 PWM chip
+/*!
+ *  @brief  Class that stores state and functions for interacting with PCA9685
+ * PWM chip
  */
 class Adafruit_PWMServoDriver {
- public:
+public:
   Adafruit_PWMServoDriver();
   Adafruit_PWMServoDriver(const uint8_t addr);
-  Adafruit_PWMServoDriver(const uint8_t addr, TwoWire& i2c);
+  Adafruit_PWMServoDriver(const uint8_t addr, TwoWire &i2c);
   void begin(uint8_t prescale = 0);
   void reset();
   void sleep();
@@ -87,14 +87,18 @@ class Adafruit_PWMServoDriver {
   void setOutputMode(bool totempole);
   uint8_t getPWM(uint8_t num);
   void setPWM(uint8_t num, uint16_t on, uint16_t off);
-  void setPin(uint8_t num, uint16_t val, bool invert=false);
+  void setPin(uint8_t num, uint16_t val, bool invert = false);
   uint8_t readPrescale(void);
   void writeMicroseconds(uint8_t num, uint16_t Microseconds);
 
- private:
+  void setOscillatorFrequency(uint32_t freq);
+  uint32_t getOscillatorFrequency(void);
+
+private:
   uint8_t _i2caddr;
-  TwoWire* _i2c;
+  TwoWire *_i2c;
 
+  uint32_t _oscillator_freq;
   uint8_t read8(uint8_t addr);
   void write8(uint8_t addr, uint8_t d);
 };