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embd
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initialize Mode2 register with OUTDRV=1

This commit is contained in:
andrew 2018-07-19 00:37:22 -05:00
parent d3d8c0c5c6
commit 3ff3d2fbc4
1 changed files with 15 additions and 6 deletions
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21
controller/pca9685/pca9685.go
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@ -16,10 +16,14 @@ const (
pwmControlPoints = 4096
mode1RegAddr = 0x00
mode2RegAddr = 0x01
preScaleRegAddr = 0xFE
pwm0OnLowReg = 0x6
//mode2 reg
OUTDRV = 0x04
// inspired by arduino's default freq for analogWrites
defaultFreq = 490
)
@ -64,9 +68,9 @@ func (d *PCA9685) setup() error {
glog.V(1).Infof("pca9685: read MODE1 Reg [regAddr: %#02x] Value: [%v]", mode1RegAddr, mode1Reg)
if err := d.sleep(); err != nil {
return err
}
// if err := d.sleep(); err != nil {
// return err
// }
if d.Freq == 0 {
d.Freq = defaultFreq
@ -82,12 +86,17 @@ func (d *PCA9685) setup() error {
return err
}
newmode := ((mode1Reg | 0x01) & 0xDF)
if err := d.Bus.WriteByteToReg(d.Addr, mode1RegAddr, newmode); err != nil {
//initialize mode2 register
if err := d.Bus.WriteByteToReg(d.Addr, mode2RegAddr, OUTDRV); err != nil {
return err
}
//initialize mode1 register
newmode1 := ((mode1Reg | 0x01) & 0xDF)
if err := d.Bus.WriteByteToReg(d.Addr, mode1RegAddr, newmode1); err != nil {
return err
}
glog.V(1).Infof("pca9685: new mode [%#02x] [disabling register auto increment] written to MODE1 Reg [regAddr: %#02x]", newmode, mode1RegAddr)
glog.V(1).Infof("pca9685: new mode [%#02x] [disabling register auto increment] written to MODE1 Reg [regAddr: %#02x]", newmode1, mode1RegAddr)
d.initialized = true