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Changes PCA9685 code

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This commit is contained in:
Brendan Haines 2015-02-04 20:37:34 -07:00
parent a85c7c7a3f
commit 4a9c351d33
6 changed files with 72 additions and 85 deletions
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0
PCA9685/Makefile → CopterController/PCA9685/Makefile
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35
PCA9685/PCA9685.cpp → CopterController/PCA9685/PCA9685.cpp
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@ -3,9 +3,9 @@
*/
#include "PCA9685.h"
#include "stdio.h"
#include "PCA9685_Addresses.h"
;
#include <iostream>
#include "wiringPi.h"
#include "wiringPiI2C.h"
@ -19,23 +19,20 @@ PCA9685::PCA9685( int devAddr )
i2cFileHandle = wiringPiI2CSetup( devAddr ); // parameter is dependent on board revision
if( i2cFileHandle < 0 )
{
printf( "failed to open i2c\n" );
std::cerr << "failed to open i2c" << std::endl;
}
setAllPwm( 0, 0 );
std::cout << "all pwm set to o" << std::endl;
wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_MODE2, PCA9685_OUTDRV );
wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_MODE1, PCA9685_ALLCALL );
delay( 5 );
int mode1 = wiringPiI2CReadReg8( i2cFileHandle, PCA9685_MODE1 );
mode1 = mode1 & ~PCA9685_SLEEP;
mode1 = mode1 & ~PCA9685_SLEEP; // set sleep bit (to wake)
wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_MODE1, mode1 );
/* wiringPiI2CWriteReg8( i2cFileHandle,
PCA9685_MODE1,
wiringPiI2CReadReg8( i2cFileHandle, PCA9685_MODE1 ) & ~PCA9685_SLEEP );
*/delay( 5 );
delay( 5 );
}
void PCA9685::setFrequency( int hertz )
@ -47,24 +44,24 @@ void PCA9685::setFrequency( int hertz )
preScale /= 4096; // 12 bit
preScale /= hertz;
preScale -= 1; // fencepost
printf( "preScale: %f\n", preScale );
std::cout << "setting pwm frequency to: " << hertz << " hertz" << std::endl;
std::cout << "estimate preScale: " << preScale << std::endl;
preScale += 0.5;
std::cout << "final preScale: " << (int) preScale << std::endl;
oldMode = wiringPiI2CReadReg8( i2cFileHandle, PCA9685_MODE1 );
newMode = ( oldMode & 0x7F ) | 0x10;
newMode = ( oldMode & 0x7F ) | PCA9685_SLEEP; // set sleep bit (to sleep)
wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_MODE1, newMode ); // go to sleep
wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_PRE_SCALE, (int) preScale );
wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_MODE1, oldMode ); // wake back up
delay( 5 );
wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_MODE1, oldMode | 0x80 );
wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_MODE1, oldMode | PCA9685_RESTART ); // set restart bit
delay( 5 ); // wait for restart
}
void PCA9685::setPwm( int channel, int on, int off )
{
//wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_LED_ADDRS[ 4 * channel ], on & 0xFF );
//wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_LED_ADDRS[ 4 * channel +1 ], on >> 8 );
//wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_LED_ADDRS[ 4 * channel +2 ], off & 0xFF );
//wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_LED_ADDRS[ 4 * channel +3 ], off >> 8 );
wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_LED0_ON_L + 4*channel, on & 0xFF );
wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_LED0_ON_H + 4*channel, on >> 8 );
wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_LED0_OFF_L + 4*channel, off & 0xFF );
@ -74,8 +71,8 @@ void PCA9685::setPwm( int channel, int on, int off )
void PCA9685::setAllPwm( int on, int off )
{
wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_ALL_LED_ON_L, on & 0xFF );
wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_ALL_LED_OFF_H, on >> 8 );
wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_ALL_LED_ON_L, on & 0xFF );
wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_ALL_LED_ON_H, on >> 8 );
wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_ALL_LED_OFF_L, on & 0xFF );
wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_ALL_LED_OFF_H, on >> 8);
}

0
PCA9685/PCA9685.h → CopterController/PCA9685/PCA9685.h
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69
PCA9685/PCA9685_Addresses.h → CopterController/PCA9685/PCA9685_Addresses.h
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@ -18,43 +18,32 @@
#define PCA9685_SUBADR3 0x04
#define PCA9685_ALLCALLADR 0x05
#define PCA9685_PRE_SCALE 0xFE
#define PCA9685_TESTMODE 0xFF
const int PCA9685_LED_ADDRS[] = {
0x06, 0x07, 0x08, 0x09,
0x0A, 0x0B, 0x0C, 0x0D,
0x0E, 0x0F, 0x10, 0x11,
0x12, 0x13, 0x14, 0x15,
0x16, 0x17, 0x18, 0x19,
0x1A, 0x1B, 0x1C, 0x1D,
0x1E, 0x1F, 0x20, 0x21,
0x22, 0x23, 0x24, 0x25,
0x26, 0x27, 0x28, 0x29,
0x2A, 0x2B, 0x2C, 0x2D,
0x2E, 0x2F, 0x30, 0x31,
0x32, 0x33, 0x34, 0x35,
0x36, 0x37, 0x38, 0x39,
0x3A, 0x3B, 0x3C, 0x3D,
0x3E, 0x3F, 0x40, 0x41,
0x42, 0x43, 0x44, 0x45 }
/*
#define PCA9685_LED_ADDRS { \
0x06, 0x07, 0x08, 0x09, \
0x0A, 0x0B, 0x0C, 0x0D, \
0x0E, 0x0F, 0x10, 0x11, \
0x12, 0x13, 0x14, 0x15, \
0x16, 0x17, 0x18, 0x19, \
0x1A, 0x1B, 0x1C, 0x1D, \
0x1E, 0x1F, 0x20, 0x21, \
0x22, 0x23, 0x24, 0x25, \
0x26, 0x27, 0x28, 0x29, \
0x2A, 0x2B, 0x2C, 0x2D, \
0x2E, 0x2F, 0x30, 0x31, \
0x32, 0x33, 0x34, 0x35, \
0x36, 0x37, 0x38, 0x39, \
0x3A, 0x3B, 0x3C, 0x3D, \
0x3E, 0x3F, 0x40, 0x41, \
0x42, 0x43, 0x44, 0x45 \
}
*/
// ON_L ON_H OFF_L OFF_H // channel
0x06, 0x07, 0x08, 0x09, // 0
0x0A, 0x0B, 0x0C, 0x0D, // 1
0x0E, 0x0F, 0x10, 0x11, // 2
0x12, 0x13, 0x14, 0x15, // 3
0x16, 0x17, 0x18, 0x19, // 4
0x1A, 0x1B, 0x1C, 0x1D, // 5
0x1E, 0x1F, 0x20, 0x21, // 6
0x22, 0x23, 0x24, 0x25, // 7
0x26, 0x27, 0x28, 0x29, // 8
0x2A, 0x2B, 0x2C, 0x2D, // 9
0x2E, 0x2F, 0x30, 0x31, // 10
0x32, 0x33, 0x34, 0x35, // 11
0x36, 0x37, 0x38, 0x39, // 12
0x3A, 0x3B, 0x3C, 0x3D, // 13
0x3E, 0x3F, 0x40, 0x41, // 14
0x42, 0x43, 0x44, 0x45 }// 15
#define PCA9685_ALL_LED_ON_L 0xFA
#define PCA9685_ALL_LED_ON_H 0xFB
#define PCA9685_ALL_LED_OFF_L 0xFC
#define PCA9685_ALL_LED_OFF_H 0xFD
#define PCA9685_LED0_ON_L 0x06
#define PCA9685_LED0_ON_H 0x07
@ -136,12 +125,4 @@ const int PCA9685_LED_ADDRS[] = {
#define PCA9685_LED15_OFF_L 0x44
#define PCA9685_LED15_OFF_H 0x45
#define PCA9685_ALL_LED_ON_L 0xFA
#define PCA9685_ALL_LED_ON_H 0xFB
#define PCA9685_ALL_LED_OFF_L 0xFC
#define PCA9685_ALL_LED_OFF_H 0xFD
#define PCA9685_PRE_SCALE 0xFE
#define PCA9685_TESTMODE 0xFF
#endif

31
CopterController/PCA9685/PCA9685tester.cpp Normal file
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@ -0,0 +1,31 @@
#include <iostream>
#include "stdio.h"
#include "wiringPi.h"
#include "PCA9685.h"
int main( int argc, const char* argv[] )
{
wiringPiSetup();
PCA9685 servo = PCA9685( 0x40 );
servo.setFrequency( 60 );
std::cout << "freq set" << std::endl;
servo.setPwm( 0, 0, 600 );
std::cout << "pwm set 600" << std::endl;
while( std::cin.get() != '\n' );
servo.setPwm( 0, 0, 150 );
std::cout << "pwm set 150" << std::endl;
while( std::cin.get() != '\n' );
while( true )
{
servo.setPwm( 0, 0, 600 );
std::cout << "pwm: 600" << std::endl;
delay( 1000 );
servo.setPwm( 0, 0, 150 );
std::cout << "pwm: 150" << std::endl;
delay( 1000 );
}
}

22
PCA9685/PCA9685tester.cpp
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@ -1,22 +0,0 @@
#include "stdio.h"
#include "wiringPi.h"
#include "PCA9685.h"
int main( int argc, const char* argv[] )
{
wiringPiSetup();
PCA9685 servo = PCA9685( 0x40 );
servo.setFrequency( 60 );
printf( "freq set\n" );
while( true )
{
servo.setPwm( 0, 0, 600 );
printf( "pwm: 600\n" );
delay( 1000 );
servo.setPwm( 0, 0, 150 );
printf("pwm: 150\n" );
delay( 1000 );
}
}