arduino使用 iic协议控制16路pmw板的扩展
上位机串口与arduino 通讯
串口数据协议
数据协议
11aa aaAA 10AA dddd 01dd dddd
控制协议未定义
//00xxxx11 00xxxx10 00xxxx01 00xxxx00
源码
#include <Wire.h>
#include "EZ_PWMServoDriver.h"
//#include <Adafruit_PWMServoDriver.h>
//Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
EZ_PWMServoDriver pwm = EZ_PWMServoDriver();
//数据协议
//11aa aaAA 10AA dddd 01dd dddd
//控制协议未定义
//00xxxx11 00xxxx10 00xxxx01 00xxxx00
byte buf[3];
byte aaa;
byte AAA;
unsigned int ddd;
byte comchar;
byte p=0;
void setupPWMSD(){
//遍历总线设置频率
for(byte i=0;i<0x10;i++){
//Serial.println(i) ;
pwm.setAddr(0x40+i);
pwm.begin();
pwm.setPWMFreq(50);
}
}
void sendToIIC(byte _AAA,byte _aaa,unsigned int _ddd){
//50hz 相当于20ms(20000us)的 周期, 4096分辨率,分辨率每单位占用时间t 为20000us/4096=4.8828125us
//舵机控制所需脉宽Th范围0.5~2.5ms(500~2500us)因此高电平分辨率范围就是Th/t =(102.4~512)个单位。
//取整 最小103 最大512 范围是512-103=409;
pwm.setAddr(0x40+_AAA);
float per=(float)_ddd/1024.0;//参数ddd为10位正整数最大1024
uint16_t offNum=103+int(409*per);
//pwm.setPWM(num,on,off);num pmw的id代号,on 上升沿(在0-4096之间)开始位置,off 下降沿在(在0-4096之间)的开始位置
pwm.setPWM(_aaa, 0, offNum);
/*
Serial.print("per = :");
Serial.println(per) ;
Serial.print("num = :");
Serial.println(offNum) ;
*/
}
void setup() {
Serial.begin(115200);
while(Serial.read()>= 0){}//clear serialbuffer
setupPWMSD();
yield();
Serial.println("hello,setup success");
}
void parseBuf(){
//00111100
aaa=(buf[0]&0x3C)>>2;
//00000011
//00110000
AAA=(buf[0]&0x03)<<2;
AAA+=(buf[1]&0x30)>>4;
//00001111
//00111111
ddd=(buf[1]&0x0f);
ddd<<=6;
ddd+=(buf[2]&0x3f);
}
void loop() {
// read data from serial port
while(Serial.available()>0){
comchar = Serial.read();//读串口第一个字节
Serial.println(comchar, HEX) ;
if((comchar&0xC0)==0xC0){
buf[0]=comchar&0x3f;
p=1;
continue;
}
if((comchar&0x80)==0x80){
if(p==1){
buf[1]=comchar&0x3f;
p=2;
}else{
p=0;
//抛弃
}
continue;
}
if((comchar&0x40)==0x40){
if(p==2){
buf[2]=comchar&0x3f;
//完成一个包的接收
parseBuf();
/*
Serial.println("=========================:");
Serial.print("Serial.aaa = :");
Serial.println(aaa, BIN) ;//得到 "1001110"
Serial.print("Serial.AAA = :");
Serial.println(AAA, BIN) ;//得到 "1001110"
Serial.print("Serial.ddd = :");
Serial.println(ddd, BIN) ;//得到 "1001110"
*/
//解包 转iic协议发送
sendToIIC( AAA, aaa, ddd);
}
p=0;
continue;
}
if((comchar&0xC0)==0x00){
p=0;
//控制协议
continue;
}
}
//delay(100);
//Serial.println("loop");
}
c++库修改
/***************************************************
This is a library for our Adafruit 16-channel PWM & Servo driver
Pick one up today in the adafruit shop!
------> http://www.adafruit.com/products/815
These displays use I2C to communicate, 2 pins are required to
interface. For Arduino UNOs, thats SCL -> Analog 5, SDA -> Analog 4
Adafruit invests time and resources providing this open source code,
please support Adafruit and open-source hardware by purchasing
products from Adafruit!
Written by Limor Fried/Ladyada for Adafruit Industries.
BSD license, all text above must be included in any redistribution
****************************************************/
#ifndef _ADAFRUIT_PWMServoDriver_H
#define _ADAFRUIT_PWMServoDriver_H
#if ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
#define PCA9685_SUBADR1 0x2
#define PCA9685_SUBADR2 0x3
#define PCA9685_SUBADR3 0x4
#define PCA9685_MODE1 0x0
#define PCA9685_PRESCALE 0xFE
#define LED0_ON_L 0x6
#define LED0_ON_H 0x7
#define LED0_OFF_L 0x8
#define LED0_OFF_H 0x9
#define ALLLED_ON_L 0xFA
#define ALLLED_ON_H 0xFB
#define ALLLED_OFF_L 0xFC
#define ALLLED_OFF_H 0xFD
class EZ_PWMServoDriver {
public:
EZ_PWMServoDriver(uint8_t addr = 0x40);
void begin(void);
void reset(void);
void setPWMFreq(float freq);
void setPWM(uint8_t num, uint16_t on, uint16_t off);
void setPin(uint8_t num, uint16_t val, bool invert=false);
void setAddr(uint8_t addr1);//zzz add
private:
uint8_t _i2caddr;
uint8_t read8(uint8_t addr);
void write8(uint8_t addr, uint8_t d);
};
#endif
/***************************************************
This is a library for our Adafruit 16-channel PWM & Servo driver
Pick one up today in the adafruit shop!
------> http://www.adafruit.com/products/815
These displays use I2C to communicate, 2 pins are required to
interface. For Arduino UNOs, thats SCL -> Analog 5, SDA -> Analog 4
Adafruit invests time and resources providing this open source code,
please support Adafruit and open-source hardware by purchasing
products from Adafruit!
Written by Limor Fried/Ladyada for Adafruit Industries.
BSD license, all text above must be included in any redistribution
****************************************************/
#include "EZ_PWMServoDriver.h"
#include <Wire.h>
#if defined(ARDUINO_SAM_DUE)
#define WIRE Wire1
#else
#define WIRE Wire
#endif
// Set to true to print some debug messages, or false to disable them.
#define ENABLE_DEBUG_OUTPUT false
EZ_PWMServoDriver::EZ_PWMServoDriver(uint8_t addr) {
_i2caddr = addr;
}
void EZ_PWMServoDriver::begin(void) {
WIRE.begin();
reset();
}
void EZ_PWMServoDriver::reset(void) {
write8(PCA9685_MODE1, 0x0);
}
void EZ_PWMServoDriver::setPWMFreq(float freq) {
//Serial.print("Attempting to set freq ");
//Serial.println(freq);
freq *= 0.9; // Correct for overshoot in the frequency setting (see issue #11).
float prescaleval = 25000000;
prescaleval /= 4096;
prescaleval /= freq;
prescaleval -= 1;
if (ENABLE_DEBUG_OUTPUT) {
//Serial.print("Estimated pre-scale: "); Serial.println(prescaleval);
}
uint8_t prescale = floor(prescaleval + 0.5);
if (ENABLE_DEBUG_OUTPUT) {
//Serial.print("Final pre-scale: "); Serial.println(prescale);
}
uint8_t oldmode = read8(PCA9685_MODE1);
uint8_t newmode = (oldmode&0x7F) | 0x10; // sleep
write8(PCA9685_MODE1, newmode); // go to sleep
write8(PCA9685_PRESCALE, prescale); // set the prescaler
write8(PCA9685_MODE1, oldmode);
delay(5);
write8(PCA9685_MODE1, oldmode | 0xa1); // This sets the MODE1 register to turn on auto increment.
// This is why the beginTransmission below was not working.
// Serial.print("Mode now 0x"); Serial.println(read8(PCA9685_MODE1), HEX);
}
void EZ_PWMServoDriver::setPWM(uint8_t num, uint16_t on, uint16_t off) {
//Serial.print("Setting PWM "); Serial.print(num); Serial.print(": "); Serial.print(on); Serial.print("->"); Serial.println(off);
WIRE.beginTransmission(_i2caddr);
WIRE.write(LED0_ON_L+4*num);
WIRE.write(on);
WIRE.write(on>>8);
WIRE.write(off);
WIRE.write(off>>8);
WIRE.endTransmission();
}
// Sets pin without having to deal with on/off tick placement and properly handles
// a zero value as completely off. Optional invert parameter supports inverting
// the pulse for sinking to ground. Val should be a value from 0 to 4095 inclusive.
void EZ_PWMServoDriver::setPin(uint8_t num, uint16_t val, bool invert)
{
// Clamp value between 0 and 4095 inclusive.
val = min(val, 4095);
if (invert) {
if (val == 0) {
// Special value for signal fully on.
setPWM(num, 4096, 0);
}
else if (val == 4095) {
// Special value for signal fully off.
setPWM(num, 0, 4096);
}
else {
setPWM(num, 0, 4095-val);
}
}
else {
if (val == 4095) {
// Special value for signal fully on.
setPWM(num, 4096, 0);
}
else if (val == 0) {
// Special value for signal fully off.
setPWM(num, 0, 4096);
}
else {
setPWM(num, 0, val);
}
}
}
void EZ_PWMServoDriver::setAddr(uint8_t addr1){//zzz add
_i2caddr = addr1;
}
uint8_t EZ_PWMServoDriver::read8(uint8_t addr) {
WIRE.beginTransmission(_i2caddr);
WIRE.write(addr);
WIRE.endTransmission();
WIRE.requestFrom((uint8_t)_i2caddr, (uint8_t)1);
return WIRE.read();
}
void EZ_PWMServoDriver::write8(uint8_t addr, uint8_t d) {
WIRE.beginTransmission(_i2caddr);
WIRE.write(addr);
WIRE.write(d);
WIRE.endTransmission();
}