To clarify, the class instances are created globally in render.cpp. The begin function is called in setup() Then in a auxiliaryTask setRGB() is called (which calls setPWM(), which calls writeRegister()).
In both cases writeRegister() fails..
/***** pca9685.h *****/
#pragma once
#include "I2c.h"
#include <cstdint>
class PCA9685 : public I2c
{
public:
PCA9685();
~PCA9685();
// Initialize the I2c connection
bool begin(uint8_t address = 0x40, uint8_t bus = 1);
// Write a single byte directly to memory
void writeRegister(uint8_t reg, uint8_t value);
// Set a PWM value for specified channel
// For speed, the value is not clipped inside range
void setPWM(unsigned channel, unsigned value);
// Set RGB value of a LED
void setRGB(unsigned led, unsigned r, unsigned g, unsigned b);
// Unused function which has to be implemented by I2c.h
int readI2C() { return 0; }
private:
int address;
};..
/***** pca9685.cpp *****/
#include "pca9685.h"
#include "Bela.h"
#include <errno.h>
// https://cdn-shop.adafruit.com/datasheets/PCA9685.pdf
// https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library/blob/master/Adafruit_PWMServoDriver.cpp
// https://github.com/BelaPlatform/Bela/blob/master/include/I2c.h
// https://forum.bela.io/d/422-reading-gy-521-in-pure-data/8
// https://forum.bela.io/d/442-i2c-accelerometer-class/8
// https://github.com/BelaPlatform/Bela/blob/better-i2c/core/default_libpd_render.cpp
// https://github.com/BelaPlatform/Bela/tree/better-i2c/include
// https://forum.bela.io/d/476-i2c-troubles/3
// write returning -1 is maybe EINTR????
// http://pubs.opengroup.org/onlinepubs/009604499/functions/write.html
// ================================
PCA9685::PCA9685() {}
PCA9685::~PCA9685() {}
// ================================
bool PCA9685::begin(uint8_t address, uint8_t bus)
{
this->address = address;
// This functions returns 1 or 2
if(initI2C_RW(bus, address, 0) > 0)
{
int err = errno;
rt_printf("Something happened while initializing the I2c connection. \tError code %i\n", err);
return false;
}
usleep(10000);
// Set MODE1 to listen to all calls (bit 0)
writeRegister(0, 0x80);
// Set all PWM to output a constant high voltage essentialy turning OFF all LED's
writeRegister(250, 0 & 0xFF); // on time byte 1
writeRegister(251, 0 >> 8); // on time byte 2
writeRegister(252, 4095 & 0xFF); // off time byte 1
writeRegister(253, 4095 >> 8); // off time byte 2
return true;
}
// ================================
void PCA9685::setPWM(unsigned channel, unsigned value)
{
writeRegister(6 + (4 * channel), value & 0xFF); // on
writeRegister(7 + (4 * channel), value >> 8);
writeRegister(8 + (4 * channel), 4095 & 0xFF); // off
writeRegister(9 + (4 * channel), 4095 >> 8);
}
// ================================
void PCA9685::setRGB(unsigned led, unsigned r, unsigned g, unsigned b)
{
setPWM(led * 3, b);
setPWM(led * 3 + 1, g);
setPWM(led * 3 + 2, r);
}
// ================================
void PCA9685::writeRegister(uint8_t reg, uint8_t value)
{
uint8_t buf[2] = {reg, value};
if(write(i2C_file, buf, 2) != 2)
{
int err = errno;
rt_printf("Failed to write! Register %i\tAdress %i\tError %i\n", static_cast<int>(reg), address, err);
return;
}
}
