PCA9685在nodeMCU开发板的驱动移植

背景

最近尝试做六足机器人&＃xff0c;遇到了需要用pwm控制板控制舵机的问题。淘了快PCA9685的16路舵机控制板&＃xff0c;卖家给的参考程序是在Arduino uno的驱动&＃xff0c;想着移植到nodeMCU上&＃xff0c;用lua能省不少开发时间。

c版驱动

/*************************************************** This is a library for our Adafruit 16-channel PWM & Servo driverPick one up today in the adafruit shop!------> http://www.adafruit.com/products/815These displays use I2C to communicate, 2 pins are required to interface. For Arduino UNOs, thats SCL -> Analog 5, SDA -> Analog 4Adafruit 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 >&＃61; 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 0xFDclass Adafruit_PWMServoDriver {public:Adafruit_PWMServoDriver(uint8_t addr &＃61; 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&＃61;false);private:uint8_t _i2caddr;uint8_t read8(uint8_t addr);void write8(uint8_t addr, uint8_t d); };#endif

c版测试

/*************************************************** This is an example for our Adafruit 16-channel PWM & Servo driverPWM test - this will drive 16 PWMs in a &＃39;wave&＃39;Pick one up today in the adafruit shop!------> http://www.adafruit.com/products/815These displays use I2C to communicate, 2 pins are required to interface. For Arduino UNOs, thats SCL -> Analog 5, SDA -> Analog 4Adafruit 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 #include // called this way, it uses the default address 0x40 Adafruit_PWMServoDriver pwm &＃61; Adafruit_PWMServoDriver(); // you can also call it with a different address you want //Adafruit_PWMServoDriver pwm &＃61; Adafruit_PWMServoDriver(0x41);void setup() {Serial.begin(9600);Serial.println("16 channel PWM test!");// if you want to really speed stuff up, you can go into &＃39;fast 400khz I2C&＃39; mode// some i2c devices dont like this so much so if you&＃39;re sharing the bus, watch// out for this!pwm.begin();pwm.setPWMFreq(1600); // This is the maximum PWM frequency// save I2C bitrateuint8_t twbrbackup &＃61; TWBR;// must be changed after calling Wire.begin() (inside pwm.begin())TWBR &＃61; 12; // upgrade to 400KHz!}void loop() {// Drive each PWM in a &＃39;wave&＃39;for (uint16_t i&＃61;0; i<4096; i &＃43;&＃61; 8) {for (uint8_t pwmnum&＃61;0; pwmnum <16; pwmnum&＃43;&＃43;) {pwm.setPWM(pwmnum, 0, (i &＃43; (4096/16)*pwmnum) % 4096 );}} }

lua版驱动

PwmSvr&＃61;{id&＃61;0, PCA9685_SUBADR1&＃61;0x2, LED0_ON_L&＃61;0x6, ALLLED_ON_L&＃61;0xFA,pinSCL&＃61;1, PCA9685_SUBADR2&＃61;0x3, LED0_ON_H&＃61;0x7, ALLLED_ON_H&＃61;0xFB,pinSDA&＃61;2, PCA9685_SUBADR3&＃61;0x4, LED0_OFF_L&＃61;0x8, ALLLED_OFF_L&＃61;0xFC,_i2caddr&＃61;0x40, PCA9685_MODE1&＃61;0x0, LED0_OFF_H&＃61;0x9, ALLLED_OFF_H&＃61;0xFD,addr&＃61;nil, PCA9685_PRESCALE&＃61;0xFE } function PwmSvr.read8(addr)i2c.start(PwmSvr.id)i2c.address(PwmSvr.id, PwmSvr._i2caddr,i2c.TRANSMITTER)i2c.write(PwmSvr.id,addr)i2c.stop(PwmSvr.id)i2c.start(PwmSvr.id)i2c.address(PwmSvr.id, PwmSvr._i2caddr,i2c.RECEIVER)local c&＃61;i2c.read(PwmSvr.id,1)i2c.stop(PwmSvr.id)return string.byte(c) end function PwmSvr.write8(addr,d)i2c.start(PwmSvr.id)i2c.address(PwmSvr.id, PwmSvr._i2caddr ,i2c.TRANSMITTER)i2c.write(PwmSvr.id,addr,d)i2c.stop(PwmSvr.id) end function PwmSvr.reset()PwmSvr.write8(PwmSvr.PCA9685_MODE1,0x0) end function PwmSvr.begin()i2c.setup(PwmSvr.id, PwmSvr.pinSDA, PwmSvr.pinSCL, i2c.SLOW)PwmSvr.reset() end function PwmSvr.setPWMFreq(freq)local prescale&＃61;math.ceil((25000000/4096)/(freq*0.9)&＃43;0.5)local oldmode &＃61; PwmSvr.read8(PwmSvr.PCA9685_MODE1)local newmode &＃61;bit.bor(bit.band(oldmode,0x7F),0x10)PwmSvr.write8(PwmSvr.PCA9685_MODE1,newmode)PwmSvr.write8(PwmSvr.PCA9685_PRESCALE,prescale)PwmSvr.write8(PwmSvr.PCA9685_MODE1,oldmode)for i&＃61;0,6000 do tmr.wdclr() endPwmSvr.write8(PwmSvr.PCA9685_MODE1, bit.bor(oldmode,0xa1)) end function PwmSvr.setPWM(num,on,off)i2c.start(PwmSvr.id)i2c.address(PwmSvr.id, PwmSvr._i2caddr ,i2c.TRANSMITTER)i2c.write(PwmSvr.id,PwmSvr.LED0_ON_L&＃43;4*num,bit.band(on,0xff),bit.rshift(on,8),bit.band(off,0xff),bit.rshift(off,8))i2c.stop(PwmSvr.id) end function PwmSvr.setPin(num,val,invert)if(val>4095) then val&＃61;4095 endif(invert) thenif(val&＃61;&＃61;0) thenPwmSvr.setPWM(num, 4096, 0)elseif(val&＃61;&＃61;4095) thenPwmSvr.setPWM(num, 0, 4096)elsePwmSvr.setPWM(num, 0, 4095-val)endelseif(val&＃61;&＃61;4095) thenPwmSvr.setPWM(num, 4096, 0)elseif(val&＃61;&＃61;0) thenPwmSvr.setPWM(num, 0, 4096)elsePwmSvr.setPWM(num, 0, val)endendend