PbHub unit. More...

#include <unit_PbHub.hpp>

Inheritance diagram for m5::unit::UnitPbHub:

Public Member Functions
	UnitPbHub (const uint8_t addr=DEFAULT_ADDRESS)

virtual bool	begin () override

uint8_t	firmwareVersion () const
	Get the firmware version.

bool	readFirmwareVersion (uint8_t &ver)
	Read the firmware version.

bool	changeI2CAddress (const uint8_t addr)
	Change device I2C address.

Digital R/W
bool	writeDigital0 (const uint8_t ch, const bool high)
	Write digital 0 to a specific channel.

bool	writeDigital1 (const uint8_t ch, const bool high)
	Write digital 1 to a specific channel.

bool	readDigital0 (bool &high, const uint8_t ch)
	Read digital 0 from a specific channel.

bool	readDigital1 (bool &high, const uint8_t ch)
	Read digital 0 from a specific channel.

Analog write
Warning Function in PbHub
bool	writeAnalog0 (const uint8_t ch, const uint8_t val)
	Write analog 0 to a specific channel.

bool	writeAnalog1 (const uint8_t ch, const uint8_t val)
	Write analog 1 to a specific channel.

Analog read
bool	readAnalog0 (uint16_t &val, const uint8_t ch)
	Read analog 0 from a specific channel.

PWM
Warning Function in v1.1 or later
bool	writePWM0 (const uint8_t ch, const uint8_t pwm)
	Write PWN 0 to a specific channel.

bool	writePWM1 (const uint8_t ch, const uint8_t pwm)
	Write PWN 1 to a specific channel.

bool	readPWM0 (uint8_t &pwm, const uint8_t ch)
	Read PWN 0 from a specific channel.

bool	readPWM1 (uint8_t &pwm, const uint8_t ch)
	Read PWN 0 from a specific channel.

LED
Warning Function in v1.1 or later
bool	writeLEDCount (const uint8_t ch, const uint16_t num)
	Write the number of the LED to a specific channel.

bool	writeLEDColor (const uint8_t ch, const uint16_t index, const uint32_t rgb888)
	Write the LED color to a specific channel.

bool	fillLEDColor (const uint8_t ch, const uint32_t rgb888, const uint16_t first=0, const uint16_t count=0)
	Fill the LED color to a specific channel.

bool	writeLEDBrightness (const uint8_t ch, const uint8_t value)
	Write the LED brightness to a specific channel.

bool	writeLEDMode (const pbhub::LEDMode m)
	Write the LED control mode.

bool	readLEDMode (pbhub::LEDMode &m)
	Read the LED control mode.

Servo
Warning Function in v1.1 or later Note angle valid range between 0 and 180 pulse valid range between 500 and 2500
bool	writeServo0Angle (const uint8_t ch, const uint8_t angle)
	Write servo 0 angle to a specific channel.

bool	writeServo1Angle (const uint8_t ch, const uint8_t angle)
	Write servo 1 angle to a specific channel.

bool	writeServo0Pulse (const uint8_t ch, const uint16_t pulse)
	Write servo 0 pulse to a specific channel.

bool	writeServo1Pulse (const uint8_t ch, const uint16_t pulse)
	Write servo 1 pulse to a specific channel.

bool	readServo0Angle (uint8_t &angle, const uint8_t ch)
	Read servo 0 angle from a specific channel.

bool	readServo1Angle (uint8_t &angle, const uint8_t ch)
	Read servo 1 angle from a specific channel.

bool	readServo0Pulse (uint16_t &pulse, const uint8_t ch)
	Read servo 0 pulse from a specific channel.

bool	readServo1Pulse (uint16_t &pulse, const uint8_t ch)
	Read servo 1 pulse from a specific channel.

Static Public Attributes
static constexpr uint8_t	MAX_CHANNEL {6}

static constexpr uint8_t	MAX_LED_COUNT {74}

Protected Member Functions
virtual std::shared_ptr< Adapter >	ensure_adapter (const uint8_t ch) override

bool	write_digital (const uint8_t ch, const uint8_t index, const bool high)

bool	read_digital (const uint8_t ch, const uint8_t index, bool &high)

bool	write_analog (const uint8_t ch, const uint8_t index, const uint8_t val)

bool	write_pwm (const uint8_t ch, const uint8_t index, const uint8_t val)

bool	read_pwm (const uint8_t ch, const uint8_t index, uint8_t &val)

bool	write_servo_angle (const uint8_t ch, const uint8_t index, const uint8_t angle)

bool	read_servo_angle (const uint8_t ch, const uint8_t index, uint8_t &angle)

bool	write_servo_pulse (const uint8_t ch, const uint8_t index, const uint16_t angle)

bool	read_servo_pulse (const uint8_t ch, const uint8_t index, uint16_t &angle)

bool	is_firmware_2_or_later () const

bool	is_pbhub () const

bool	is_pbhub_v11 () const

Detailed Description

PbHub unit.

Note: Automatic identification of PbHub and PbHub v1.1

Warning: Not all Units with a black interface (PortB) support expansion through PbHUB.; PbHUB can only be applied to basic single-bus communication, through the I2C protocol; to achieve basic digital read and write, analog Read and write.; But for units such as Weight (built-in HX711) that not only need to read analog,; but also depend on the timing of the Unit, PbHUB cannot be expanded.

Member Function Documentation

◆ changeI2CAddress()

bool m5::unit::UnitPbHub::changeI2CAddress ( const uint8_t addr )

Change device I2C address.

Parameters

addr	I2C address

Returns: True if successful

Warning: Handling warning; Function in v1.1 or later

◆ fillLEDColor()

bool m5::unit::UnitPbHub::fillLEDColor	(	const uint8_t	ch,
		const uint32_t	rgb888,
		const uint16_t	first = 0,
		const uint16_t	count = 0 )

Fill the LED color to a specific channel.

Parameters

ch	Channel
rgb888	00000000RRRRRRRRGGGGGGGGBBBBBBBB 24bits color
first	First position of the LEDs
count	Number of pixels to fill (To the end if zero)

Returns: True if successful

◆ firmwareVersion()

uint8_t m5::unit::UnitPbHub::firmwareVersion ( ) const

inline

Get the firmware version.

Return values

==	0 No firmware version (means PbHub)
==	0xFF Not determined because begin() has not been called.
!=0	&& !=0xFF Firmware version (means PbHub v1.1)

◆ readAnalog0()

bool m5::unit::UnitPbHub::readAnalog0	(	uint16_t &	val,
		const uint8_t	ch )

Read analog 0 from a specific channel.

Parameters

[out]	val	0-1023(PbHub) 0-4095(PbHub v1.1)
	ch	Channel

Returns: True if successful

◆ readDigital0()

bool m5::unit::UnitPbHub::readDigital0	(	bool &	high,
		const uint8_t	ch )

inline

Read digital 0 from a specific channel.

Parameters

[out]	high	HIGH if true, LOW if false
	ch	Channel

Returns: True if successful

◆ readDigital1()

bool m5::unit::UnitPbHub::readDigital1	(	bool &	high,
		const uint8_t	ch )

inline

Read digital 0 from a specific channel.

Parameters

[out]	high	HIGH if true, LOW if false
	ch	Channel

Returns: True if successful

◆ readFirmwareVersion()

bool m5::unit::UnitPbHub::readFirmwareVersion ( uint8_t & ver )

Read the firmware version.

Parameters

[out] ver

Returns: True if successful

Warning: Function in v1.1 or later

◆ readLEDMode()

bool m5::unit::UnitPbHub::readLEDMode ( pbhub::LEDMode & m )

Read the LED control mode.

Parameters

[out] m LEDMode

Returns: True if successful

Warning: Function in PbHub v1.1 firmware version 2 or later

◆ readPWM0()

bool m5::unit::UnitPbHub::readPWM0	(	uint8_t &	pwm,
		const uint8_t	ch )

inline

Read PWN 0 from a specific channel.

Parameters

[out]	pwm	PWM value
	ch	Channel

Returns: True if successful

◆ readPWM1()

bool m5::unit::UnitPbHub::readPWM1	(	uint8_t &	pwm,
		const uint8_t	ch )

inline

Read PWN 0 from a specific channel.

Parameters

[out]	pwm	PWM value
	ch	Channel

Returns: True if successful

◆ readServo0Angle()

bool m5::unit::UnitPbHub::readServo0Angle	(	uint8_t &	angle,
		const uint8_t	ch )

inline

Read servo 0 angle from a specific channel.

Parameters

[out]	angle	Angle value
	ch	Channel

Returns: True if successful

◆ readServo0Pulse()

bool m5::unit::UnitPbHub::readServo0Pulse	(	uint16_t &	pulse,
		const uint8_t	ch )

inline

Read servo 0 pulse from a specific channel.

Parameters

[out]	pulse	Pulse value
	ch	Channel

Returns: True if successful

◆ readServo1Angle()

bool m5::unit::UnitPbHub::readServo1Angle	(	uint8_t &	angle,
		const uint8_t	ch )

inline

Read servo 1 angle from a specific channel.

Parameters

[out]	angle	Angle value
	ch	Channel

Returns: True if successful

◆ readServo1Pulse()

bool m5::unit::UnitPbHub::readServo1Pulse	(	uint16_t &	pulse,
		const uint8_t	ch )

inline

Read servo 1 pulse from a specific channel.

Parameters

[out]	pulse	Pulse value
	ch	Channel

Returns: True if successful

◆ writeAnalog0()

bool m5::unit::UnitPbHub::writeAnalog0	(	const uint8_t	ch,
		const uint8_t	val )

inline

Write analog 0 to a specific channel.

Parameters

ch	Channel
val	Value

Returns: True if successful

◆ writeAnalog1()

bool m5::unit::UnitPbHub::writeAnalog1	(	const uint8_t	ch,
		const uint8_t	val )

inline

Write analog 1 to a specific channel.

Parameters

ch	Channel
val	Value

Returns: True if successful

◆ writeDigital0()

bool m5::unit::UnitPbHub::writeDigital0	(	const uint8_t	ch,
		const bool	high )

inline

Write digital 0 to a specific channel.

Parameters

ch	Channel
high	HIGH if true, LOW if false

Returns: True if successful

◆ writeDigital1()

bool m5::unit::UnitPbHub::writeDigital1	(	const uint8_t	ch,
		const bool	high )

inline

Write digital 1 to a specific channel.

Parameters

ch	Channel
high	HIGH if true, LOW if false

Returns: True if successful

◆ writeLEDBrightness()

bool m5::unit::UnitPbHub::writeLEDBrightness	(	const uint8_t	ch,
		const uint8_t	value )

Write the LED brightness to a specific channel.

Parameters

ch	Channel
value	0-255

Returns: True if successful

◆ writeLEDColor()

bool m5::unit::UnitPbHub::writeLEDColor	(	const uint8_t	ch,
		const uint16_t	index,
		const uint32_t	rgb888 )

Write the LED color to a specific channel.

Parameters

ch	Channel
index	LED index
rgb888	00000000RRRRRRRRGGGGGGGGBBBBBBBB 24bits color

Returns: True if successful

◆ writeLEDCount()

bool m5::unit::UnitPbHub::writeLEDCount	(	const uint8_t	ch,
		const uint16_t	num )

Write the number of the LED to a specific channel.

Parameters

ch	Channel
num	Number of th LED

Returns: True if successful

Warning: Maximum LED is 74 for each channel

◆ writeLEDMode()

bool m5::unit::UnitPbHub::writeLEDMode ( const pbhub::LEDMode m )

Write the LED control mode.

Parameters

m LEDMode

Returns: True if successful

Warning: Settings common to all channels; Function in PbHub v1.1 firmware version 2 or later

◆ writePWM0()

bool m5::unit::UnitPbHub::writePWM0	(	const uint8_t	ch,
		const uint8_t	pwm )

inline

Write PWN 0 to a specific channel.

Parameters

ch	Channel
pwm	PWM value

Returns: True if successful

◆ writePWM1()

bool m5::unit::UnitPbHub::writePWM1	(	const uint8_t	ch,
		const uint8_t	pwm )

inline

Write PWN 1 to a specific channel.

Parameters

ch	Channel
pwm	PWM value

Returns: True if successful

◆ writeServo0Angle()

bool m5::unit::UnitPbHub::writeServo0Angle	(	const uint8_t	ch,
		const uint8_t	angle )

inline

Write servo 0 angle to a specific channel.

Parameters

ch	Channel
angle	Angle value

Returns: True if successful

◆ writeServo0Pulse()

bool m5::unit::UnitPbHub::writeServo0Pulse	(	const uint8_t	ch,
		const uint16_t	pulse )

inline

Write servo 0 pulse to a specific channel.

Parameters

ch	Channel
pulse	Pulse value

Returns: True if successful

◆ writeServo1Angle()

bool m5::unit::UnitPbHub::writeServo1Angle	(	const uint8_t	ch,
		const uint8_t	angle )

inline

Write servo 1 angle to a specific channel.

Parameters

ch	Channel
angle	Angle value

Returns: True if successful

◆ writeServo1Pulse()

bool m5::unit::UnitPbHub::writeServo1Pulse	(	const uint8_t	ch,
		const uint16_t	pulse )

inline

Write servo 1 pulse to a specific channel.

Parameters

ch	Channel
pulse	Pulse value

Returns: True if successful

Public Member Functions

Static Public Attributes

Protected Member Functions

Detailed Description

Member Function Documentation

◆ changeI2CAddress()

◆ fillLEDColor()

◆ firmwareVersion()

◆ readAnalog0()

◆ readDigital0()

◆ readDigital1()

◆ readFirmwareVersion()

◆ readLEDMode()

◆ readPWM0()

◆ readPWM1()

◆ readServo0Angle()

◆ readServo0Pulse()

◆ readServo1Angle()

◆ readServo1Pulse()

◆ writeAnalog0()

◆ writeAnalog1()

◆ writeDigital0()

◆ writeDigital1()

◆ writeLEDBrightness()

◆ writeLEDColor()

◆ writeLEDCount()

◆ writeLEDMode()

◆ writePWM0()

◆ writePWM1()

◆ writeServo0Angle()

◆ writeServo0Pulse()

◆ writeServo1Angle()

◆ writeServo1Pulse()