arduino使用 iic协议控制16路pmw板的扩展

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();
}