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NosilleNosille
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create PWMServoDriverGroup
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‎Adafruit_PWMServoDriverGroup.cpp

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#include "Adafruit_PWMServoDriverGroup.h"
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/*!
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* @brief Instantiates new PCA9685 PWM driver chips with consecutive
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* I2C addresses begining with the default on a TwoWire interface
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* @param nDrivers Number of PWM driver chips to instantiate
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* @param nServosEach Number of servos to allocate on each driver
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*/
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Adafruit_PWMServoDriverGroup::Adafruit_PWMServoDriverGroup(const uint8_t nDrivers, const uint8_t nServosEach) {
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_nDrivers = nDrivers;
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_nServosEach = nServosEach;
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_drivers = (Adafruit_PWMServoDriver **) malloc(nDrivers * sizeof(Adafruit_PWMServoDriver *));
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for(uint8_t i=0; i < _nDrivers; i++) {
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_drivers[i] = new Adafruit_PWMServoDriver(PCA9685_I2C_ADDRESS + i);
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}
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}
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/*!
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* @brief Instantiates new PCA9685 PWM driver chips with user defined
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* I2C addresses on a TwoWire interface
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* @param nDrivers Number of PWM driver chips to instantiate
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* @param nServosEach Number of servos to allocate on each driver
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* @param addr Array of 7-bit I2C addresses to locate the chips, default is 0x40 through 0x44
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*/
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Adafruit_PWMServoDriverGroup::Adafruit_PWMServoDriverGroup(const uint8_t nDrivers, const uint8_t nServosEach, const uint8_t *addr) {
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_nDrivers = nDrivers;
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_nServosEach = nServosEach;
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_drivers = (Adafruit_PWMServoDriver **) malloc(nDrivers * sizeof(Adafruit_PWMServoDriver *));
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for(uint8_t i=0; i < _nDrivers; i++) {
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_drivers[i] = new Adafruit_PWMServoDriver(addr[i], Wire);
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}
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}
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/*!
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* @brief Instantiates new PCA9685 PWM driver chips with I2C addresses on a
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* TwoWire interface
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* @param nDrivers Number of PWM driver chips to instantiate
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* @param nServosEach Number of servos to allocate on each driver
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* @param addr Array of 7-bit I2C addresses to locate the chips, default is 0x40 thorugh 0x44
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* @param i2c A reference to a 'TwoWire' object that we'll use to communicate with
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*/
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Adafruit_PWMServoDriverGroup::Adafruit_PWMServoDriverGroup(const uint8_t nDrivers, const uint8_t nServosEach, const uint8_t *addr, TwoWire &i2c)
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{
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_nDrivers = nDrivers;
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_nServosEach = nServosEach;
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_drivers = (Adafruit_PWMServoDriver **) malloc(nDrivers * sizeof(Adafruit_PWMServoDriver *));
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for(uint8_t i=0; i < _nDrivers; i++) {
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_drivers[i] = new Adafruit_PWMServoDriver(addr[i], i2c);
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}
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}
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/* @brief Gets the number of PCA9685 PWM driver chips connected to this class
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*/
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uint8_t Adafruit_PWMServoDriverGroup::getNumDrivers() {
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return _nDrivers;
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}
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/* @brief Gets the number of servos associated with each PCA9685 PWM chip
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*/
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uint8_t Adafruit_PWMServoDriverGroup::getNumServosEach() {
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return _nServosEach;
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}
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/* @brief Gets the total number of servos associated with this class
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*/
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uint8_t Adafruit_PWMServoDriverGroup::getNumServos() {
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return _nDrivers * _nServosEach;
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}
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/*!
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* @brief Gets the Adafruit_PWMServoDriver associated with a given servo and
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* the servo number on that device
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* @param num Number of servo in master list
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* @param localId returns the number of the servo as known to the PCA9685 chip
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* @return The Adafruit_PWMServoDriver associated with the requested servo
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*/
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Adafruit_PWMServoDriver* Adafruit_PWMServoDriverGroup::getDriver(uint8_t num, uint8_t& localId){
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uint8_t driverId = 0;
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if(num > _nServosEach - 1) driverId = num/_nServosEach;
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localId = num - (driverId * _nServosEach);
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return _drivers[driverId];
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}
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/*!
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* @brief Setups the I2C interface and hardware
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* @param prescale
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* Sets External Clock (Optional)
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* @return true if successful, otherwise false
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*/
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bool Adafruit_PWMServoDriverGroup::begin(uint8_t prescale) {
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bool status = true;
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for(int i = 0; i < _nDrivers; i++) status &= _drivers[i]->begin(prescale);
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return status;
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}
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/*!
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* @brief Sends a reset command to the PCA9685 chips over I2C
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*/
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void Adafruit_PWMServoDriverGroup::reset() {
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for(int i = 0; i < _nDrivers; i++) _drivers[i]->reset();
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}
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/*!
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* @brief Puts boards into sleep mode
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*/
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void Adafruit_PWMServoDriverGroup::sleep(){
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for(int i = 0; i < _nDrivers; i++) _drivers[i]->sleep();
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}
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/*!
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* @brief Wakes boards from sleep
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*/
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void Adafruit_PWMServoDriverGroup::wakeup(){
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for(int i = 0; i < _nDrivers; i++) _drivers[i]->wakeup();
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}
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/*!
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* @brief Sets EXTCLK pin to use the external clock
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* @param prescale
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* Configures the prescale value to be used by the external clock
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*/
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void Adafruit_PWMServoDriverGroup::setExtClk(uint8_t prescale){
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for(int i = 0; i < _nDrivers; i++) _drivers[i]->setExtClk(prescale);
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}
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/*!
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* @brief Sets the PWM frequency for all chips, up to ~1.6 KHz
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* @param freq Floating point frequency that we will attempt to match
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*/
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void Adafruit_PWMServoDriverGroup::setPWMFreq(float freq){
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for(int i = 0; i < _nDrivers; i++) _drivers[i]->setPWMFreq(freq);
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}
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/*!
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* @brief Sets the output mode of the PCA9685s to either
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* open drain or push pull / totempole.
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* Warning: LEDs with integrated zener diodes should
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* only be driven in open drain mode.
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* @param totempole Totempole if true, open drain if false.
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*/
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void Adafruit_PWMServoDriverGroup::setOutputMode(bool totempole){
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for(int i = 0; i < _nDrivers; i++) _drivers[i]->setOutputMode(totempole);
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}
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/*!
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* @brief Gets the PWM output of one of the PCA9685 pins
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* @param num One of the PWM output pins, from 0 to (nDrivers * nServosEach - 1)
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* @param off If true, returns PWM OFF value, otherwise PWM ON
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* @return requested PWM output value
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*/
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uint16_t Adafruit_PWMServoDriverGroup::getPWM(uint8_t num, bool off){
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uint8_t localId = 0;
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auto driver = getDriver(num, localId);
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return driver->getPWM(localId, off);
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}
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/*!
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* @brief Sets the PWM output of one of the PCA9685 pins
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* @param num One of the PWM output pins, from 0 to (nDrivers * nServosEach - 1)
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* @param on At what point in the 4096-part cycle to turn the PWM output ON
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* @param off At what point in the 4096-part cycle to turn the PWM output OFF
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* @return 0 if successful, otherwise 1
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*/
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uint8_t Adafruit_PWMServoDriverGroup::setPWM(uint8_t num, uint16_t on, uint16_t off){
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uint8_t localId = 0;
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auto driver = getDriver(num, localId);
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return driver->setPWM(localId, on, off);
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}
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/*!
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* @brief Helper to set pin PWM output. Sets pin without having to deal with
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* on/off tick placement and properly handles a zero value as completely off and
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* 4095 as completely on. Optional invert parameter supports inverting the
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* pulse for sinking to ground.
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* @param num One of the PWM output pins, from 0 to (nDrivers * nServosEach - 1)
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* @param val The number of ticks out of 4096 to be active, should be a value
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* from 0 to 4095 inclusive.
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* @param invert If true, inverts the output, defaults to 'false'
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*/
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void Adafruit_PWMServoDriverGroup::setPin(uint8_t num, uint16_t val, bool invert){
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uint8_t localId = 0;
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auto driver = getDriver(num, localId);
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driver->setPin(localId, val, invert);
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}
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/*!
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* @brief Reads set Prescale from PCA9685
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* @return prescale value
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*/
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uint8_t Adafruit_PWMServoDriverGroup::readPrescale(){
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return _drivers[0]->readPrescale();
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}
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/*!
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* @brief Sets the PWM output of one of the PCA9685 pins based on the input
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* microseconds, output is not precise
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* @param num One of the PWM output pins, from 0 to (nDrivers * nServosEach - 1)
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* @param Microseconds The number of Microseconds to turn the PWM output ON
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*/
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void Adafruit_PWMServoDriverGroup::writeMicroseconds(uint8_t num, uint16_t microseconds){
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uint8_t localId = 0;
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auto driver = getDriver(num, localId);
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driver->writeMicroseconds(localId, microseconds);
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}
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/*!
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* @brief Getter for the internally tracked oscillator used for freq
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* calculations
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* @returns The frequency the PCA9685 thinks it is running at (it cannot
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* introspect)
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*/
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void Adafruit_PWMServoDriverGroup::setOscillatorFrequency(uint32_t freq){
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for(int i = 0; i < _nDrivers; i++) _drivers[i]->setOscillatorFrequency(freq);
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}
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void Adafruit_PWMServoDriverGroup::setOscillatorFrequency(uint8_t id, uint32_t freq){
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_drivers[id]->setOscillatorFrequency(freq);
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}
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/*!
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* @brief Setter for the internally tracked oscillator used for freq
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* calculations
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* @param freq The frequency the PCA9685 should use for frequency calculations
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*/
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uint32_t Adafruit_PWMServoDriverGroup::getOscillatorFrequency(uint8_t id){
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return _drivers[id]->getOscillatorFrequency();
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}

‎Adafruit_PWMServoDriverGroup.h

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/*!
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* @file Adafruit_PWMServoDriverGroup.h
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*
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* This Library sets up a group of Adafruit_PWMServoDrivers
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* to act like a Adafruit_PWMServoDrivers object
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*
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*
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* Designed specifically to work with the Adafruit 16-channel PWM & Servo
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* driver.
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*
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* BSD license, all text above must be included in any redistribution
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*/
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#ifndef _ADAFRUIT_PWMServoDriverGroup_H
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#define _ADAFRUIT_PWMServoDriverGroup_H
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#include "Adafruit_PWMServoDriver.h"
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#define PCA9685_I2C_ADDRESS_1 0x40
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#define PCA9685_I2C_ADDRESS_2 0x41
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#define PCA9685_I2C_ADDRESS_3 0x42
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#define PCA9685_I2C_ADDRESS_4 0x43
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#define PCA9685_I2C_ADDRESS_5 0x44
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/*!
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* @brief Class that stores state and functions for interacting with multiple PCA9685
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* PWM chips as if they are a single instance
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*/
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class Adafruit_PWMServoDriverGroup {
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public:
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Adafruit_PWMServoDriverGroup(const uint8_t ndrivers, const uint8_t nServosEach);
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Adafruit_PWMServoDriverGroup(const uint8_t ndrivers, const uint8_t nServosEach, const uint8_t *addr);
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Adafruit_PWMServoDriverGroup(const uint8_t ndrivers, const uint8_t nServosEach, const uint8_t *addr, TwoWire &i2c);
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Adafruit_PWMServoDriver* getDriver(uint8_t num, uint8_t& localNum);
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bool begin(uint8_t prescale = 0);
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void reset();
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void sleep();
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void wakeup();
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void setExtClk(uint8_t prescale);
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void setPWMFreq(float freq);
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void setOutputMode(bool totempole);
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uint16_t getPWM(uint8_t num, bool off = false);
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uint8_t setPWM(uint8_t num, uint16_t on, uint16_t off);
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void setPin(uint8_t num, uint16_t val, bool invert = false);
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uint8_t readPrescale(void);
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void writeMicroseconds(uint8_t num, uint16_t microseconds);
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void setOscillatorFrequency(uint32_t freq);
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void setOscillatorFrequency(uint8_t id, uint32_t freq);
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uint32_t getOscillatorFrequency(uint8_t id);
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uint8_t getNumDrivers();
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uint8_t getNumServos();
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uint8_t getNumServosEach();
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private:
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uint8_t _nDrivers;
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uint8_t _nServosEach;
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Adafruit_PWMServoDriver** _drivers;
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};
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#endif

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