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adds PCA9685 (i2c servo driver) library
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9
PCA9685/Makefile
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9
PCA9685/Makefile
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all: PCA9685.o PCA9685tester
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HDRS = PCA9685.h PCA9685_Addresses.h
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CXXFLAGS = -Wall -lwiringPi
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PCA9685.o PCA9685tester.o: $(HDRS)
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PCA9685tester: PCA9685.o PCA9685tester.o
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$(CXX) $^ -lwiringPi -o $@
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88
PCA9685/PCA9685.cpp
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PCA9685/PCA9685.cpp
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/*
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* PCA9685.cpp
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*/
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#include "PCA9685.h"
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#include "stdio.h"
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#include "PCA9685_Addresses.h"
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#include "wiringPi.h"
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#include "wiringPiI2C.h"
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PCA9685::PCA9685()
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{
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PCA9685( PCA9685_DEFAULT_ADDRESS );
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}
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PCA9685::PCA9685( int devAddr )
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{
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i2cFileHandle = wiringPiI2CSetup( devAddr ); // parameter is dependent on board revision
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if( i2cFileHandle < 0 )
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{
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printf( "failed to open i2c\n" );
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}
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setAllPwm( 0, 0 );
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_MODE2, PCA9685_OUTDRV );
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_MODE1, PCA9685_ALLCALL );
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delay( 5 );
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int mode1 = wiringPiI2CReadReg8( i2cFileHandle, PCA9685_MODE1 );
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mode1 = mode1 & ~PCA9685_SLEEP;
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_MODE1, mode1 );
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/* wiringPiI2CWriteReg8( i2cFileHandle,
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PCA9685_MODE1,
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wiringPiI2CReadReg8( i2cFileHandle, PCA9685_MODE1 ) & ~PCA9685_SLEEP );
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*/delay( 5 );
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}
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void PCA9685::setFrequency( int hertz )
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{
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double preScale;
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int oldMode, newMode;
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preScale = 25000000; // 25Mhz
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preScale /= 4096; // 12 bit
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preScale /= hertz;
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preScale -= 1; // fencepost
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printf( "preScale: %f\n", preScale );
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oldMode = wiringPiI2CReadReg8( i2cFileHandle, PCA9685_MODE1 );
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newMode = ( oldMode & 0x7F ) | 0x10;
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_MODE1, newMode ); // go to sleep
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_PRE_SCALE, (int) preScale );
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_MODE1, oldMode ); // wake back up
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delay( 5 );
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_MODE1, oldMode | 0x80 );
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}
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void PCA9685::setPwm( int channel, int on, int off )
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{
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//wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_LED_ADDRS[ 4 * channel ], on & 0xFF );
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//wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_LED_ADDRS[ 4 * channel +1 ], on >> 8 );
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//wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_LED_ADDRS[ 4 * channel +2 ], off & 0xFF );
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//wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_LED_ADDRS[ 4 * channel +3 ], off >> 8 );
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_LED0_ON_L + 4*channel, on & 0xFF );
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_LED0_ON_H + 4*channel, on >> 8 );
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_LED0_OFF_L + 4*channel, off & 0xFF );
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_LED0_OFF_H + 4*channel, off >> 8 );
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}
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void PCA9685::setAllPwm( int on, int off )
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{
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_ALL_LED_ON_L, on & 0xFF );
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_ALL_LED_OFF_H, on >> 8 );
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_ALL_LED_ON_L, on & 0xFF );
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wiringPiI2CWriteReg8( i2cFileHandle, PCA9685_ALL_LED_OFF_H, on >> 8);
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}
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17
PCA9685/PCA9685.h
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PCA9685/PCA9685.h
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#ifndef PCA9685_H
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#define PCA9685_H
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class PCA9685
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{
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public:
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PCA9685(); // no-args constructor: uses default device address @ 50hz
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PCA9685( int devAddr ); // frequency: 50hz
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void setFrequency( int hertz );
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void setPwm( int channel, int on, int off ); // for standard servo behavior: 150 <= value <= 600
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void setAllPwm( int on, int off );
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private:
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int i2cFileHandle;
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};
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#endif
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147
PCA9685/PCA9685_Addresses.h
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147
PCA9685/PCA9685_Addresses.h
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#ifndef PCA9685_ADDRESSES_H
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#define PCA9685_ADDRESSES_H
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#define PCA9685_DEFAULT_ADDRESS 0x40
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#define PCA9685_RESTART 0x80
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#define PCA9685_SLEEP 0x10
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#define PCA9685_ALLCALL 0x01
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#define PCA9685_INVRT 0x10
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#define PCA9685_OUTDRV 0x04
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#define PCA9685_MODE1 0x00
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#define PCA9685_MODE2 0x01
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#define PCA9685_SUBADR1 0x02
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#define PCA9685_SUBADR2 0x03
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#define PCA9685_SUBADR3 0x04
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#define PCA9685_ALLCALLADR 0x05
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const int PCA9685_LED_ADDRS[] = {
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0x06, 0x07, 0x08, 0x09,
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0x0A, 0x0B, 0x0C, 0x0D,
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0x0E, 0x0F, 0x10, 0x11,
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0x12, 0x13, 0x14, 0x15,
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0x16, 0x17, 0x18, 0x19,
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0x1A, 0x1B, 0x1C, 0x1D,
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0x1E, 0x1F, 0x20, 0x21,
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0x22, 0x23, 0x24, 0x25,
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0x26, 0x27, 0x28, 0x29,
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0x2A, 0x2B, 0x2C, 0x2D,
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0x2E, 0x2F, 0x30, 0x31,
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0x32, 0x33, 0x34, 0x35,
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0x36, 0x37, 0x38, 0x39,
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0x3A, 0x3B, 0x3C, 0x3D,
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0x3E, 0x3F, 0x40, 0x41,
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0x42, 0x43, 0x44, 0x45 }
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/*
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#define PCA9685_LED_ADDRS { \
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0x06, 0x07, 0x08, 0x09, \
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0x0A, 0x0B, 0x0C, 0x0D, \
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0x0E, 0x0F, 0x10, 0x11, \
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0x12, 0x13, 0x14, 0x15, \
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0x16, 0x17, 0x18, 0x19, \
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0x1A, 0x1B, 0x1C, 0x1D, \
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0x1E, 0x1F, 0x20, 0x21, \
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0x22, 0x23, 0x24, 0x25, \
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0x26, 0x27, 0x28, 0x29, \
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0x2A, 0x2B, 0x2C, 0x2D, \
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0x2E, 0x2F, 0x30, 0x31, \
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0x32, 0x33, 0x34, 0x35, \
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0x36, 0x37, 0x38, 0x39, \
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0x3A, 0x3B, 0x3C, 0x3D, \
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0x3E, 0x3F, 0x40, 0x41, \
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0x42, 0x43, 0x44, 0x45 \
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}
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*/
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#define PCA9685_LED0_ON_L 0x06
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#define PCA9685_LED0_ON_H 0x07
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#define PCA9685_LED0_OFF_L 0x08
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#define PCA9685_LED0_OFF_H 0x09
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#define PCA9685_LED1_ON_L 0x0A
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#define PCA9685_LED1_ON_H 0x0B
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#define PCA9685_LED1_OFF_L 0x0C
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#define PCA9685_LED1_OFF_H 0x0D
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#define PCA9685_LED2_ON_L 0x0E
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#define PCA9685_LED2_ON_H 0x0F
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#define PCA9685_LED2_OFF_L 0x10
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#define PCA9685_LED2_OFF_H 0x11
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#define PCA9685_LED3_ON_L 0x12
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#define PCA9685_LED3_ON_H 0x13
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#define PCA9685_LED3_OFF_L 0x14
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#define PCA9685_LED3_OFF_H 0x15
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#define PCA9685_LED4_ON_L 0x16
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#define PCA9685_LED4_ON_H 0x17
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#define PCA9685_LED4_OFF_L 0x18
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#define PCA9685_LED4_OFF_H 0x19
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#define PCA9685_LED5_ON_L 0x1A
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#define PCA9685_LED5_ON_H 0x1B
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#define PCA9685_LED5_OFF_L 0x1C
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#define PCA9685_LED5_OFF_H 0x1D
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#define PCA9685_LED6_ON_L 0x1E
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#define PCA9685_LED6_ON_H 0x1F
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#define PCA9685_LED6_OFF_L 0x20
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#define PCA9685_LED6_OFF_H 0x21
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#define PCA9685_LED7_ON_L 0x22
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#define PCA9685_LED7_ON_H 0x23
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#define PCA9685_LED7_OFF_L 0x24
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#define PCA9685_LED7_OFF_H 0x25
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#define PCA9685_LED8_ON_L 0x26
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#define PCA9685_LED8_ON_H 0x27
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#define PCA9685_LED8_OFF_L 0x28
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#define PCA9685_LED8_OFF_H 0x29
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#define PCA9685_LED9_ON_L 0x2A
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#define PCA9685_LED9_ON_H 0x2B
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#define PCA9685_LED9_OFF_L 0x2C
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#define PCA9685_LED9_OFF_H 0x2D
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#define PCA9685_LED10_ON_L 0x2E
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#define PCA9685_LED10_ON_H 0x2F
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#define PCA9685_LED10_OFF_L 0x30
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#define PCA9685_LED10_OFF_H 0x31
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#define PCA9685_LED11_ON_L 0x32
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#define PCA9685_LED11_ON_H 0x33
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#define PCA9685_LED11_OFF_L 0x34
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#define PCA9685_LED11_OFF_H 0x35
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#define PCA9685_LED12_ON_L 0x36
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#define PCA9685_LED12_ON_H 0x37
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#define PCA9685_LED12_OFF_L 0x38
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#define PCA9685_LED12_OFF_H 0x39
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#define PCA9685_LED13_ON_L 0x3A
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#define PCA9685_LED13_ON_H 0x3B
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#define PCA9685_LED13_OFF_L 0x3C
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#define PCA9685_LED13_OFF_H 0x3D
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#define PCA9685_LED14_ON_L 0x3E
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#define PCA9685_LED14_ON_H 0x3F
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#define PCA9685_LED14_OFF_L 0x40
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#define PCA9685_LED14_OFF_H 0x41
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#define PCA9685_LED15_ON_L 0x42
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#define PCA9685_LED15_ON_H 0x43
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#define PCA9685_LED15_OFF_L 0x44
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#define PCA9685_LED15_OFF_H 0x45
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#define PCA9685_ALL_LED_ON_L 0xFA
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#define PCA9685_ALL_LED_ON_H 0xFB
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#define PCA9685_ALL_LED_OFF_L 0xFC
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#define PCA9685_ALL_LED_OFF_H 0xFD
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#define PCA9685_PRE_SCALE 0xFE
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#define PCA9685_TESTMODE 0xFF
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#endif
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22
PCA9685/PCA9685tester.cpp
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22
PCA9685/PCA9685tester.cpp
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#include "stdio.h"
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#include "wiringPi.h"
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#include "PCA9685.h"
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int main( int argc, const char* argv[] )
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{
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wiringPiSetup();
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PCA9685 servo = PCA9685( 0x40 );
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servo.setFrequency( 60 );
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printf( "freq set\n" );
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while( true )
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{
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servo.setPwm( 0, 0, 600 );
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printf( "pwm: 600\n" );
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delay( 1000 );
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servo.setPwm( 0, 0, 150 );
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printf("pwm: 150\n" );
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delay( 1000 );
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}
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}
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