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a2nr 2025-02-04 20:56:52 +07:00
parent 946ff71217
commit 22890b0902
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[submodule "hal/hal-pca9685/Adafruit-PWM-Servo-Driver-Library"]
path = hal/hal-pca9685/doc/Adafruit-PWM-Servo-Driver-Library
url = https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library
[submodule "hal/hal-ads1115/doc/ADS1X15"]
path = hal/hal-ads1115/doc/ADS1X15
url = https://github.com/RobTillaart/ADS1X15.git

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hal/hal-ads1115/doc/ADS1X15 Submodule

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Subproject commit 320f17e077b32aef3b43a144d0b1bcc3c8d8ea00

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hal/hal-pca9685/doc/Adafruit-PWM-Servo-Driver-Library/.github/ISSUE_TEMPLATE.md vendored Normal file
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Thank you for opening an issue on an Adafruit Arduino library repository. To
improve the speed of resolution please review the following guidelines and
common troubleshooting steps below before creating the issue:
- **Do not use GitHub issues for troubleshooting projects and issues.** Instead use
the forums at http://forums.adafruit.com to ask questions and troubleshoot why
something isn't working as expected. In many cases the problem is a common issue
that you will more quickly receive help from the forum community. GitHub issues
are meant for known defects in the code. If you don't know if there is a defect
in the code then start with troubleshooting on the forum first.
- **If following a tutorial or guide be sure you didn't miss a step.** Carefully
check all of the steps and commands to run have been followed. Consult the
forum if you're unsure or have questions about steps in a guide/tutorial.
- **For Arduino projects check these very common issues to ensure they don't apply**:
- For uploading sketches or communicating with the board make sure you're using
a **USB data cable** and **not** a **USB charge-only cable**. It is sometimes
very hard to tell the difference between a data and charge cable! Try using the
cable with other devices or swapping to another cable to confirm it is not
the problem.
- **Be sure you are supplying adequate power to the board.** Check the specs of
your board and plug in an external power supply. In many cases just
plugging a board into your computer is not enough to power it and other
peripherals.
- **Double check all soldering joints and connections.** Flakey connections
cause many mysterious problems. See the [guide to excellent soldering](https://learn.adafruit.com/adafruit-guide-excellent-soldering/tools) for examples of good solder joints.
- **Ensure you are using an official Arduino or Adafruit board.** We can't
guarantee a clone board will have the same functionality and work as expected
with this code and don't support them.
If you're sure this issue is a defect in the code and checked the steps above
please fill in the following fields to provide enough troubleshooting information.
You may delete the guideline and text above to just leave the following details:
- Arduino board: **INSERT ARDUINO BOARD NAME/TYPE HERE**
- Arduino IDE version (found in Arduino -> About Arduino menu): **INSERT ARDUINO
VERSION HERE**
- List the steps to reproduce the problem below (if possible attach a sketch or
copy the sketch code in too): **LIST REPRO STEPS BELOW**

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Thank you for creating a pull request to contribute to Adafruit's GitHub code!
Before you open the request please review the following guidelines and tips to
help it be more easily integrated:
- **Describe the scope of your change--i.e. what the change does and what parts
of the code were modified.** This will help us understand any risks of integrating
the code.
- **Describe any known limitations with your change.** For example if the change
doesn't apply to a supported platform of the library please mention it.
- **Please run any tests or examples that can exercise your modified code.** We
strive to not break users of the code and running tests/examples helps with this
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Thank you again for contributing! We will try to test and integrate the change
as soon as we can, but be aware we have many GitHub repositories to manage and
can't immediately respond to every request. There is no need to bump or check in
on a pull request (it will clutter the discussion of the request).
Also don't be worried if the request is closed or not integrated--sometimes the
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forks and GitHub makes it easy to keep your changes in a forked repo.
After reviewing the guidelines above you can delete this text from the pull request.

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name: Arduino Library CI
on: [pull_request, push, repository_dispatch]
jobs:
build:
runs-on: ubuntu-latest
steps:
- uses: actions/setup-python@v4
with:
python-version: '3.x'
- uses: actions/checkout@v3
- uses: actions/checkout@v3
with:
repository: adafruit/ci-arduino
path: ci
- name: pre-install
run: bash ci/actions_install.sh
- name: test platforms
run: python3 ci/build_platform.py main_platforms
- name: clang
run: python3 ci/run-clang-format.py -e "ci/*" -e "bin/*" -r .
- name: doxygen
env:
GH_REPO_TOKEN: ${{ secrets.GH_REPO_TOKEN }}
PRETTYNAME : "Adafruit PCA9685 PWM Library"
run: bash ci/doxy_gen_and_deploy.sh

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# osx
.DS_Store
# doxygen
Doxyfile*
doxygen_sqlite3.db
html
*.tmp

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/*!
* @file Adafruit_PWMServoDriver.cpp
*
* @mainpage Adafruit 16-channel PWM & Servo driver
*
* @section intro_sec Introduction
*
* This is a library for the 16-channel PWM & Servo driver.
*
* Designed specifically to work with the Adafruit PWM & Servo driver.
*
* Pick one up today in the adafruit shop!
* ------> https://www.adafruit.com/product/815
*
* These displays use I2C to communicate, 2 pins are required to interface.
*
* Adafruit invests time and resources providing this open source code,
* please support Adafruit andopen-source hardware by purchasing products
* from Adafruit!
*
* @section author Author
*
* Limor Fried/Ladyada (Adafruit Industries).
*
* @section license License
*
* BSD license, all text above must be included in any redistribution
*/
#include "Adafruit_PWMServoDriver.h"
//#define ENABLE_DEBUG_OUTPUT
/*!
* @brief Instantiates a new PCA9685 PWM driver chip with the I2C address on a
* TwoWire interface
*/
Adafruit_PWMServoDriver::Adafruit_PWMServoDriver()
: _i2caddr(PCA9685_I2C_ADDRESS), _i2c(&Wire) {}
/*!
* @brief Instantiates a new PCA9685 PWM driver chip with the I2C address on a
* TwoWire interface
* @param addr The 7-bit I2C address to locate this chip, default is 0x40
*/
Adafruit_PWMServoDriver::Adafruit_PWMServoDriver(const uint8_t addr)
: _i2caddr(addr), _i2c(&Wire) {}
/*!
* @brief Instantiates a new PCA9685 PWM driver chip with the I2C address on a
* TwoWire interface
* @param addr The 7-bit I2C address to locate this chip, default is 0x40
* @param i2c A reference to a 'TwoWire' object that we'll use to communicate
* with
*/
Adafruit_PWMServoDriver::Adafruit_PWMServoDriver(const uint8_t addr,
TwoWire &i2c)
: _i2caddr(addr), _i2c(&i2c) {}
/*!
* @brief Setups the I2C interface and hardware
* @param prescale
* Sets External Clock (Optional)
* @return true if successful, otherwise false
*/
bool Adafruit_PWMServoDriver::begin(uint8_t prescale) {
if (i2c_dev)
delete i2c_dev;
i2c_dev = new Adafruit_I2CDevice(_i2caddr, _i2c);
if (!i2c_dev->begin())
return false;
reset();
// set the default internal frequency
setOscillatorFrequency(FREQUENCY_OSCILLATOR);
if (prescale) {
setExtClk(prescale);
} else {
// set a default frequency
setPWMFreq(1000);
}
return true;
}
/*!
* @brief Sends a reset command to the PCA9685 chip over I2C
*/
void Adafruit_PWMServoDriver::reset() {
write8(PCA9685_MODE1, MODE1_RESTART);
delay(10);
}
/*!
* @brief Puts board into sleep mode
*/
void Adafruit_PWMServoDriver::sleep() {
uint8_t awake = read8(PCA9685_MODE1);
uint8_t sleep = awake | MODE1_SLEEP; // set sleep bit high
write8(PCA9685_MODE1, sleep);
delay(5); // wait until cycle ends for sleep to be active
}
/*!
* @brief Wakes board from sleep
*/
void Adafruit_PWMServoDriver::wakeup() {
uint8_t sleep = read8(PCA9685_MODE1);
uint8_t wakeup = sleep & ~MODE1_SLEEP; // set sleep bit low
write8(PCA9685_MODE1, wakeup);
}
/*!
* @brief Sets EXTCLK pin to use the external clock
* @param prescale
* Configures the prescale value to be used by the external clock
*/
void Adafruit_PWMServoDriver::setExtClk(uint8_t prescale) {
uint8_t oldmode = read8(PCA9685_MODE1);
uint8_t newmode = (oldmode & ~MODE1_RESTART) | MODE1_SLEEP; // sleep
write8(PCA9685_MODE1, newmode); // go to sleep, turn off internal oscillator
// This sets both the SLEEP and EXTCLK bits of the MODE1 register to switch to
// use the external clock.
write8(PCA9685_MODE1, (newmode |= MODE1_EXTCLK));
write8(PCA9685_PRESCALE, prescale); // set the prescaler
delay(5);
// clear the SLEEP bit to start
write8(PCA9685_MODE1, (newmode & ~MODE1_SLEEP) | MODE1_RESTART | MODE1_AI);
#ifdef ENABLE_DEBUG_OUTPUT
Serial.print("Mode now 0x");
Serial.println(read8(PCA9685_MODE1), HEX);
#endif
}
/*!
* @brief Sets the PWM frequency for the entire chip, up to ~1.6 KHz
* @param freq Floating point frequency that we will attempt to match
*/
void Adafruit_PWMServoDriver::setPWMFreq(float freq) {
#ifdef ENABLE_DEBUG_OUTPUT
Serial.print("Attempting to set freq ");
Serial.println(freq);
#endif
// Range output modulation frequency is dependant on oscillator
if (freq < 1)
freq = 1;
if (freq > 3500)
freq = 3500; // Datasheet limit is 3052=50MHz/(4*4096)
float prescaleval = ((_oscillator_freq / (freq * 4096.0)) + 0.5) - 1;
if (prescaleval < PCA9685_PRESCALE_MIN)
prescaleval = PCA9685_PRESCALE_MIN;
if (prescaleval > PCA9685_PRESCALE_MAX)
prescaleval = PCA9685_PRESCALE_MAX;
uint8_t prescale = (uint8_t)prescaleval;
#ifdef ENABLE_DEBUG_OUTPUT
Serial.print("Final pre-scale: ");
Serial.println(prescale);
#endif
uint8_t oldmode = read8(PCA9685_MODE1);
uint8_t newmode = (oldmode & ~MODE1_RESTART) | MODE1_SLEEP; // sleep
write8(PCA9685_MODE1, newmode); // go to sleep
write8(PCA9685_PRESCALE, prescale); // set the prescaler
write8(PCA9685_MODE1, oldmode);
delay(5);
// This sets the MODE1 register to turn on auto increment.
write8(PCA9685_MODE1, oldmode | MODE1_RESTART | MODE1_AI);
#ifdef ENABLE_DEBUG_OUTPUT
Serial.print("Mode now 0x");
Serial.println(read8(PCA9685_MODE1), HEX);
#endif
}
/*!
* @brief Sets the output mode of the PCA9685 to either
* open drain or push pull / totempole.
* Warning: LEDs with integrated zener diodes should
* only be driven in open drain mode.
* @param totempole Totempole if true, open drain if false.
*/
void Adafruit_PWMServoDriver::setOutputMode(bool totempole) {
uint8_t oldmode = read8(PCA9685_MODE2);
uint8_t newmode;
if (totempole) {
newmode = oldmode | MODE2_OUTDRV;
} else {
newmode = oldmode & ~MODE2_OUTDRV;
}
write8(PCA9685_MODE2, newmode);
#ifdef ENABLE_DEBUG_OUTPUT
Serial.print("Setting output mode: ");
Serial.print(totempole ? "totempole" : "open drain");
Serial.print(" by setting MODE2 to ");
Serial.println(newmode);
#endif
}
/*!
* @brief Reads set Prescale from PCA9685
* @return prescale value
*/
uint8_t Adafruit_PWMServoDriver::readPrescale(void) {
return read8(PCA9685_PRESCALE);
}
/*!
* @brief Gets the PWM output of one of the PCA9685 pins
* @param num One of the PWM output pins, from 0 to 15
* @param off If true, returns PWM OFF value, otherwise PWM ON
* @return requested PWM output value
*/
uint16_t Adafruit_PWMServoDriver::getPWM(uint8_t num, bool off) {
uint8_t buffer[2] = {uint8_t(PCA9685_LED0_ON_L + 4 * num), 0};
if (off)
buffer[0] += 2;
i2c_dev->write_then_read(buffer, 1, buffer, 2);
return uint16_t(buffer[0]) | (uint16_t(buffer[1]) << 8);
}
/*!
* @brief Sets the PWM output of one of the PCA9685 pins
* @param num One of the PWM output pins, from 0 to 15
* @param on At what point in the 4096-part cycle to turn the PWM output ON
* @param off At what point in the 4096-part cycle to turn the PWM output OFF
* @return 0 if successful, otherwise 1
*/
uint8_t Adafruit_PWMServoDriver::setPWM(uint8_t num, uint16_t on,
uint16_t off) {
#ifdef ENABLE_DEBUG_OUTPUT
Serial.print("Setting PWM ");
Serial.print(num);
Serial.print(": ");
Serial.print(on);
Serial.print("->");
Serial.println(off);
#endif
uint8_t buffer[5];
buffer[0] = PCA9685_LED0_ON_L + 4 * num;
buffer[1] = on;
buffer[2] = on >> 8;
buffer[3] = off;
buffer[4] = off >> 8;
if (i2c_dev->write(buffer, 5)) {
return 0;
} else {
return 1;
}
}
/*!
* @brief Helper to set pin PWM output. Sets pin without having to deal with
* on/off tick placement and properly handles a zero value as completely off and
* 4095 as completely on. Optional invert parameter supports inverting the
* pulse for sinking to ground.
* @param num One of the PWM output pins, from 0 to 15
* @param val The number of ticks out of 4096 to be active, should be a value
* from 0 to 4095 inclusive.
* @param invert If true, inverts the output, defaults to 'false'
*/
void Adafruit_PWMServoDriver::setPin(uint8_t num, uint16_t val, bool invert) {
// Clamp value between 0 and 4095 inclusive.
val = min(val, (uint16_t)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);
}
}
}
/*!
* @brief Sets the PWM output of one of the PCA9685 pins based on the input
* microseconds, output is not precise
* @param num One of the PWM output pins, from 0 to 15
* @param Microseconds The number of Microseconds to turn the PWM output ON
*/
void Adafruit_PWMServoDriver::writeMicroseconds(uint8_t num,
uint16_t Microseconds) {
#ifdef ENABLE_DEBUG_OUTPUT
Serial.print("Setting PWM Via Microseconds on output");
Serial.print(num);
Serial.print(": ");
Serial.print(Microseconds);
Serial.println("->");
#endif
double pulse = Microseconds;
double pulselength;
pulselength = 1000000; // 1,000,000 us per second
// Read prescale
uint16_t prescale = readPrescale();
#ifdef ENABLE_DEBUG_OUTPUT
Serial.print(prescale);
Serial.println(" PCA9685 chip prescale");
#endif
// Calculate the pulse for PWM based on Equation 1 from the datasheet section
// 7.3.5
prescale += 1;
pulselength *= prescale;
pulselength /= _oscillator_freq;
#ifdef ENABLE_DEBUG_OUTPUT
Serial.print(pulselength);
Serial.println(" us per bit");
#endif
pulse /= pulselength;
#ifdef ENABLE_DEBUG_OUTPUT
Serial.print(pulse);
Serial.println(" pulse for PWM");
#endif
setPWM(num, 0, pulse);
}
/*!
* @brief Getter for the internally tracked oscillator used for freq
* calculations
* @returns The frequency the PCA9685 thinks it is running at (it cannot
* introspect)
*/
uint32_t Adafruit_PWMServoDriver::getOscillatorFrequency(void) {
return _oscillator_freq;
}
/*!
* @brief Setter for the internally tracked oscillator used for freq
* calculations
* @param freq The frequency the PCA9685 should use for frequency calculations
*/
void Adafruit_PWMServoDriver::setOscillatorFrequency(uint32_t freq) {
_oscillator_freq = freq;
}
/******************* Low level I2C interface */
uint8_t Adafruit_PWMServoDriver::read8(uint8_t addr) {
uint8_t buffer[1] = {addr};
i2c_dev->write_then_read(buffer, 1, buffer, 1);
return buffer[0];
}
void Adafruit_PWMServoDriver::write8(uint8_t addr, uint8_t d) {
uint8_t buffer[2] = {addr, d};
i2c_dev->write(buffer, 2);
}

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/*!
* @file Adafruit_PWMServoDriver.h
*
* This is a library for our Adafruit 16-channel PWM & Servo driver.
*
* Designed specifically to work with the Adafruit 16-channel PWM & Servo
* driver.
*
* Pick one up today in the adafruit shop!
* ------> https://www.adafruit.com/product/815
*
* These driver 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 andopen-source hardware by purchasing products
* from Adafruit!
*
* Limor Fried/Ladyada (Adafruit Industries).
*
* BSD license, all text above must be included in any redistribution
*/
#ifndef _ADAFRUIT_PWMServoDriver_H
#define _ADAFRUIT_PWMServoDriver_H
#include <Adafruit_I2CDevice.h>
#include <Arduino.h>
// REGISTER ADDRESSES
#define PCA9685_MODE1 0x00 /**< Mode Register 1 */
#define PCA9685_MODE2 0x01 /**< Mode Register 2 */
#define PCA9685_SUBADR1 0x02 /**< I2C-bus subaddress 1 */
#define PCA9685_SUBADR2 0x03 /**< I2C-bus subaddress 2 */
#define PCA9685_SUBADR3 0x04 /**< I2C-bus subaddress 3 */
#define PCA9685_ALLCALLADR 0x05 /**< LED All Call I2C-bus address */
#define PCA9685_LED0_ON_L 0x06 /**< LED0 on tick, low byte*/
#define PCA9685_LED0_ON_H 0x07 /**< LED0 on tick, high byte*/
#define PCA9685_LED0_OFF_L 0x08 /**< LED0 off tick, low byte */
#define PCA9685_LED0_OFF_H 0x09 /**< LED0 off tick, high byte */
// etc all 16: LED15_OFF_H 0x45
#define PCA9685_ALLLED_ON_L 0xFA /**< load all the LEDn_ON registers, low */
#define PCA9685_ALLLED_ON_H 0xFB /**< load all the LEDn_ON registers, high */
#define PCA9685_ALLLED_OFF_L 0xFC /**< load all the LEDn_OFF registers, low */
#define PCA9685_ALLLED_OFF_H 0xFD /**< load all the LEDn_OFF registers,high */
#define PCA9685_PRESCALE 0xFE /**< Prescaler for PWM output frequency */
#define PCA9685_TESTMODE 0xFF /**< defines the test mode to be entered */
// MODE1 bits
#define MODE1_ALLCAL 0x01 /**< respond to LED All Call I2C-bus address */
#define MODE1_SUB3 0x02 /**< respond to I2C-bus subaddress 3 */
#define MODE1_SUB2 0x04 /**< respond to I2C-bus subaddress 2 */
#define MODE1_SUB1 0x08 /**< respond to I2C-bus subaddress 1 */
#define MODE1_SLEEP 0x10 /**< Low power mode. Oscillator off */
#define MODE1_AI 0x20 /**< Auto-Increment enabled */
#define MODE1_EXTCLK 0x40 /**< Use EXTCLK pin clock */
#define MODE1_RESTART 0x80 /**< Restart enabled */
// MODE2 bits
#define MODE2_OUTNE_0 0x01 /**< Active LOW output enable input */
#define MODE2_OUTNE_1 \
0x02 /**< Active LOW output enable input - high impedience */
#define MODE2_OUTDRV 0x04 /**< totem pole structure vs open-drain */
#define MODE2_OCH 0x08 /**< Outputs change on ACK vs STOP */
#define MODE2_INVRT 0x10 /**< Output logic state inverted */
#define PCA9685_I2C_ADDRESS 0x40 /**< Default PCA9685 I2C Slave Address */
#define FREQUENCY_OSCILLATOR 25000000 /**< Int. osc. frequency in datasheet */
#define PCA9685_PRESCALE_MIN 3 /**< minimum prescale value */
#define PCA9685_PRESCALE_MAX 255 /**< maximum prescale value */
/*!
* @brief Class that stores state and functions for interacting with PCA9685
* PWM chip
*/
class Adafruit_PWMServoDriver {
public:
Adafruit_PWMServoDriver();
Adafruit_PWMServoDriver(const uint8_t addr);
Adafruit_PWMServoDriver(const uint8_t addr, TwoWire &i2c);
bool begin(uint8_t prescale = 0);
void reset();
void sleep();
void wakeup();
void setExtClk(uint8_t prescale);
void setPWMFreq(float freq);
void setOutputMode(bool totempole);
uint16_t getPWM(uint8_t num, bool off = false);
uint8_t setPWM(uint8_t num, uint16_t on, uint16_t off);
void setPin(uint8_t num, uint16_t val, bool invert = false);
uint8_t readPrescale(void);
void writeMicroseconds(uint8_t num, uint16_t Microseconds);
void setOscillatorFrequency(uint32_t freq);
uint32_t getOscillatorFrequency(void);
private:
uint8_t _i2caddr;
TwoWire *_i2c;
Adafruit_I2CDevice *i2c_dev = NULL; ///< Pointer to I2C bus interface
uint32_t _oscillator_freq;
uint8_t read8(uint8_t addr);
void write8(uint8_t addr, uint8_t d);
};
#endif

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# Adafruit PCA9685 PWM Servo Driver Library ![Build Status](https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library/workflows/Arduino%20Library%20CI/badge.svg)
This is a library for our Adafruit 16-channel PWM & Servo driver, shield or FeatherWing
<a href="https://www.adafruit.com/products/815"><img src="https://cdn-shop.adafruit.com/970x728/815-04.jpg" height="300"/></a>
Pick one up today in the adafruit shop!
* https://www.adafruit.com/products/815
* https://www.adafruit.com/product/1411
* https://www.adafruit.com/product/2928
These drivers use I2C to communicate, 2 pins are required to interface.
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, check license.txt for more information.
All text above must be included in any redistribution

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/***************************************************
This is an example for our Adafruit 16-channel PWM & Servo driver
GPIO test - this will set a pin high/low
Pick one up today in the adafruit shop!
------> http://www.adafruit.com/products/815
These drivers use I2C to communicate, 2 pins are required to
interface.
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 <Wire.h>
#include <Adafruit_PWMServoDriver.h>
// called this way, it uses the default address 0x40
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
// you can also call it with a different address you want
//Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x41);
// you can also call it with a different address and I2C interface
//Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x40, Wire);
void setup() {
Serial.begin(9600);
Serial.println("GPIO test!");
pwm.begin();
pwm.setPWMFreq(1000); // Set to whatever you like, we don't use it in this demo!
// if you want to really speed stuff up, you can go into 'fast 400khz I2C' mode
// some i2c devices dont like this so much so if you're sharing the bus, watch
// out for this!
Wire.setClock(400000);
}
void loop() {
// Drive each pin in a 'wave'
for (uint8_t pin=0; pin<16; pin++) {
pwm.setPWM(pin, 4096, 0); // turns pin fully on
delay(100);
pwm.setPWM(pin, 0, 4096); // turns pin fully off
}
}

129
hal/hal-pca9685/doc/Adafruit-PWM-Servo-Driver-Library/examples/oscillator/oscillator.ino Normal file
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/***************************************************
This is an example for our Adafruit 16-channel PWM & Servo driver
to calibrate the frequency of the oscillator clock of the PCA9685.
CAUTION: DO NOT CONNECT ANY VOLTAGE HIGHER THAN THE BOARD LIMITS.
For 3.3V boards, like the ESP8266, remove any 5V input. The setup will
feed the voltage back into the board to measure the frequency.
KABOEM, SMOKE if you use too much VOLTAGE.
Connect the PCA9685 with I2C (Ground, VCC, SCL, SCA) and apply
voltage on V+. See above not higher than board limits.
Connect the signal (yellow pin, PWM) of the PCA9685 to your board:
Default is pin 3, last of first block.
Default is pin 14 (of your ESP8266).
Formula for prescale to get the targetted frequency (=update_rate) is:
prescale = round ( osc_clock / 4096 * update_rate) - 1
rewritten: osc_clock = (prescale + 1) * 4096 * update_rate
We will measure the real update_rate to assert the real osc_clock.
***************************************************/
#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>
// called this way, it uses the default address 0x40
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x40, Wire);
// you can also call it with a different address you want
//Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x40);
// you can also call it with a different address and I2C interface
//Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x40, Wire);
#if (defined(ESP8266) || defined(ESP32))
// Applied frequency in the test: can be changed to get the optimal
// oscillator calibration for your targetted frequency.
#define FREQUENCY 50
// CAUTION: ONLY CONNECT server and ESP WITHOUT 5V ON V+ or green breakout supply pins. Use 3.3V on V+
#define PIN_SERVO_FEEDBACK 3 // Connect Yellow PWM pin, 3 = last on first block
#define PIN_BOARD_FEEDBACK 14 // 14 => D5 on NodeMCU
uint8_t prescale = 0;
// loop
#define INTERVAL 1000 // 1 sec
int32_t lastEvaluation = 0;
uint16_t frozenCounter = 0;
uint16_t countDeviations = 0;
uint32_t totalCounter = 0;
uint32_t totalTime = 0; // in millis
uint32_t realOsciFreq = 0;
uint32_t multiplier = 4096;
// interrupt
volatile uint16_t interruptCounter = 0;
ICACHE_RAM_ATTR void handleInterrupt() {
interruptCounter = interruptCounter + 1;
}
void setup() {
Serial.begin(115200);
Serial.println("PCA9685 Oscillator test");
// set PCA9685
pwm.begin();
pwm.setPWMFreq(FREQUENCY); // Set some frequency
pwm.setPWM(PIN_SERVO_FEEDBACK,0,2048); // half of time high, half of time low
prescale = pwm.readPrescale(); // read prescale
Serial.printf("Target frequency: %u\n", FREQUENCY);
Serial.printf("Applied prescale: %u\n", prescale);
// prepare interrupt on ESP pin
pinMode(PIN_BOARD_FEEDBACK, INPUT);
attachInterrupt(digitalPinToInterrupt(PIN_BOARD_FEEDBACK), handleInterrupt, RISING);
// take a breath and reset to zero
delay(10);
interruptCounter = 0;
lastEvaluation = millis();
}
void loop() {
if (millis() - lastEvaluation > INTERVAL)
{
// first freeze counters and adjust for new round
frozenCounter = interruptCounter; // first freeze counter
interruptCounter = interruptCounter - frozenCounter;
lastEvaluation += INTERVAL;
totalCounter += frozenCounter;
totalTime += 1;
// only print deviations from targetted frequency
//if (frozenCounter != FREQUENCY)
{
multiplier = 4096;
realOsciFreq = (prescale + 1) * totalCounter; // first part calcutlation
// now follows an ugly hack to have maximum precision in 32 bits
while (((realOsciFreq & 0x80000000) == 0) && (multiplier != 1))
{
realOsciFreq <<= 1;
multiplier >>= 1;
}
realOsciFreq /= totalTime;
if (multiplier) realOsciFreq *= multiplier;
countDeviations++;
Serial.printf("%4u", countDeviations);
Serial.printf(" Timestamp: %4" PRIu32 " ", totalTime);
Serial.printf(" Freq: %4u ", frozenCounter);
Serial.printf(" Counter: %6" PRIu32 " ", totalCounter);
Serial.printf(" calc.osci.freq: %9" PRIu32 "\n",realOsciFreq);
}
}
}
#else
void setup() {
Serial.begin(115200);
Serial.println("PCA9685 Oscillator test");
Serial.println("yet not available for your board."); // please help adapt the code!
}
void loop() {}
#endif // ESP8266/ESP32

69
hal/hal-pca9685/doc/Adafruit-PWM-Servo-Driver-Library/examples/pwmtest/pwmtest.ino Normal file
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/***************************************************
This is an example for our Adafruit 16-channel PWM & Servo driver
PWM test - this will drive 16 PWMs in a 'wave'
Pick one up today in the adafruit shop!
------> http://www.adafruit.com/products/815
These drivers use I2C to communicate, 2 pins are required to
interface.
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 <Wire.h>
#include <Adafruit_PWMServoDriver.h>
// called this way, it uses the default address 0x40
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
// you can also call it with a different address you want
//Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x41);
// you can also call it with a different address and I2C interface
//Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x40, Wire);
void setup() {
Serial.begin(9600);
Serial.println("16 channel PWM test!");
pwm.begin();
/*
* In theory the internal oscillator (clock) is 25MHz but it really isn't
* that precise. You can 'calibrate' this by tweaking this number until
* you get the PWM update frequency you're expecting!
* The int.osc. for the PCA9685 chip is a range between about 23-27MHz and
* is used for calculating things like writeMicroseconds()
* Analog servos run at ~50 Hz updates, It is importaint to use an
* oscilloscope in setting the int.osc frequency for the I2C PCA9685 chip.
* 1) Attach the oscilloscope to one of the PWM signal pins and ground on
* the I2C PCA9685 chip you are setting the value for.
* 2) Adjust setOscillatorFrequency() until the PWM update frequency is the
* expected value (50Hz for most ESCs)
* Setting the value here is specific to each individual I2C PCA9685 chip and
* affects the calculations for the PWM update frequency.
* Failure to correctly set the int.osc value will cause unexpected PWM results
*/
pwm.setOscillatorFrequency(27000000);
pwm.setPWMFreq(1600); // This is the maximum PWM frequency
// if you want to really speed stuff up, you can go into 'fast 400khz I2C' mode
// some i2c devices dont like this so much so if you're sharing the bus, watch
// out for this!
Wire.setClock(400000);
}
void loop() {
// Drive each PWM in a 'wave'
for (uint16_t i=0; i<4096; i += 8) {
for (uint8_t pwmnum=0; pwmnum < 16; pwmnum++) {
pwm.setPWM(pwmnum, 0, (i + (4096/16)*pwmnum) % 4096 );
}
#ifdef ESP8266
yield(); // take a breather, required for ESP8266
#endif
}
}

115
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/***************************************************
This is an example for our Adafruit 16-channel PWM & Servo driver
Servo test - this will drive 8 servos, one after the other on the
first 8 pins of the PCA9685
Pick one up today in the adafruit shop!
------> http://www.adafruit.com/products/815
These drivers use I2C to communicate, 2 pins are required to
interface.
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 <Wire.h>
#include <Adafruit_PWMServoDriver.h>
// called this way, it uses the default address 0x40
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
// you can also call it with a different address you want
//Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x41);
// you can also call it with a different address and I2C interface
//Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x40, Wire);
// Depending on your servo make, the pulse width min and max may vary, you
// want these to be as small/large as possible without hitting the hard stop
// for max range. You'll have to tweak them as necessary to match the servos you
// have!
#define SERVOMIN 150 // This is the 'minimum' pulse length count (out of 4096)
#define SERVOMAX 600 // This is the 'maximum' pulse length count (out of 4096)
#define USMIN 600 // This is the rounded 'minimum' microsecond length based on the minimum pulse of 150
#define USMAX 2400 // This is the rounded 'maximum' microsecond length based on the maximum pulse of 600
#define SERVO_FREQ 50 // Analog servos run at ~50 Hz updates
// our servo # counter
uint8_t servonum = 0;
void setup() {
Serial.begin(9600);
Serial.println("8 channel Servo test!");
pwm.begin();
/*
* In theory the internal oscillator (clock) is 25MHz but it really isn't
* that precise. You can 'calibrate' this by tweaking this number until
* you get the PWM update frequency you're expecting!
* The int.osc. for the PCA9685 chip is a range between about 23-27MHz and
* is used for calculating things like writeMicroseconds()
* Analog servos run at ~50 Hz updates, It is importaint to use an
* oscilloscope in setting the int.osc frequency for the I2C PCA9685 chip.
* 1) Attach the oscilloscope to one of the PWM signal pins and ground on
* the I2C PCA9685 chip you are setting the value for.
* 2) Adjust setOscillatorFrequency() until the PWM update frequency is the
* expected value (50Hz for most ESCs)
* Setting the value here is specific to each individual I2C PCA9685 chip and
* affects the calculations for the PWM update frequency.
* Failure to correctly set the int.osc value will cause unexpected PWM results
*/
pwm.setOscillatorFrequency(27000000);
pwm.setPWMFreq(SERVO_FREQ); // Analog servos run at ~50 Hz updates
delay(10);
}
// You can use this function if you'd like to set the pulse length in seconds
// e.g. setServoPulse(0, 0.001) is a ~1 millisecond pulse width. It's not precise!
void setServoPulse(uint8_t n, double pulse) {
double pulselength;
pulselength = 1000000; // 1,000,000 us per second
pulselength /= SERVO_FREQ; // Analog servos run at ~60 Hz updates
Serial.print(pulselength); Serial.println(" us per period");
pulselength /= 4096; // 12 bits of resolution
Serial.print(pulselength); Serial.println(" us per bit");
pulse *= 1000000; // convert input seconds to us
pulse /= pulselength;
Serial.println(pulse);
pwm.setPWM(n, 0, pulse);
}
void loop() {
// Drive each servo one at a time using setPWM()
Serial.println(servonum);
for (uint16_t pulselen = SERVOMIN; pulselen < SERVOMAX; pulselen++) {
pwm.setPWM(servonum, 0, pulselen);
}
delay(500);
for (uint16_t pulselen = SERVOMAX; pulselen > SERVOMIN; pulselen--) {
pwm.setPWM(servonum, 0, pulselen);
}
delay(500);
// Drive each servo one at a time using writeMicroseconds(), it's not precise due to calculation rounding!
// The writeMicroseconds() function is used to mimic the Arduino Servo library writeMicroseconds() behavior.
for (uint16_t microsec = USMIN; microsec < USMAX; microsec++) {
pwm.writeMicroseconds(servonum, microsec);
}
delay(500);
for (uint16_t microsec = USMAX; microsec > USMIN; microsec--) {
pwm.writeMicroseconds(servonum, microsec);
}
delay(500);
servonum++;
if (servonum > 7) servonum = 0; // Testing the first 8 servo channels
}

29
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#######################################
# Classes, datatypes (KEYWORD1)
#######################################
Adafruit_PWMServoDriver KEYWORD1
#######################################
# Methods and Functions (KEYWORD2)
#######################################
begin KEYWORD2
reset KEYWORD2
sleep KEYWORD2
wakeup KEYWORD2
setExtClk KEYWORD2
setPWMFreq KEYWORD2
setOutputMode KEYWORD2
getPWM KEYWORD2
setPWM KEYWORD2
setPin KEYWORD2
readPrescale KEYWORD2
writeMicroseconds KEYWORD2
setOscillatorFrequency KEYWORD2
getOscillatorFrequency KEYWORD2
#######################################
# Constants (LITERAL1)
#######################################
FREQUENCY_OSCILLATOR LITERAL1

10
hal/hal-pca9685/doc/Adafruit-PWM-Servo-Driver-Library/library.properties Normal file
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@ -0,0 +1,10 @@
name=Adafruit PWM Servo Driver Library
version=3.0.2
author=Adafruit
maintainer=Adafruit <info@adafruit.com>
sentence=Adafruit PWM Servo Driver Library
paragraph=Adafruit PWM Servo Driver Library
category=Device Control
url=https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library
architectures=*
depends=Adafruit BusIO

26
hal/hal-pca9685/doc/Adafruit-PWM-Servo-Driver-Library/license.txt Normal file
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@ -0,0 +1,26 @@
Software License Agreement (BSD License)
Copyright (c) 2012, Adafruit Industries
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
3. Neither the name of the copyright holders nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

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runtime/runtime.aliases
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Mobile-Robot-K4-001 = "172.22.11.2"
[My Computer]
My Computer = "192.168.1.5"
My Computer = "192.168.1.7"

2
runtime/runtime.lvlps
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@ -1,3 +1,3 @@
[ProjectWindow_Data]
ProjectExplorer.ClassicPosition[String] = "33,1,859,446"
ProjectExplorer.ClassicPosition[String] = "37,4,1013,422"

56
runtime/runtime.lvproj
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@ -213,6 +213,45 @@ AddOutputFilter chunkFilter
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@ -259,6 +298,7 @@ AddOutputFilter chunkFilter
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@ -274,8 +314,11 @@ AddOutputFilter chunkFilter
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<Item Name="myRIO v1.0 Reset FPGA.vi" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/myRIO v1.0/myRIO v1.0 Reset FPGA.vi"/>
<Item Name="myRIO v1.0 Shutdown I2C.vi" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/myRIO v1.0/I2C/vis/myRIO v1.0 Shutdown I2C.vi"/>
<Item Name="myRIO v1.0 Timer IRQ Info FGV.vi" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/myRIO v1.0/IRQ/vis/myRIO v1.0 Timer IRQ Info FGV.vi"/>
<Item Name="myRIO v1.0 Unreserve Channel List.vi" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/myRIO v1.0/Resource Manager/vis/myRIO v1.0 Unreserve Channel List.vi"/>
<Item Name="myRIO v1.0 Unreserve Channel.vi" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/myRIO v1.0/Resource Manager/vis/myRIO v1.0 Unreserve Channel.vi"/>
<Item Name="myRIO v1.0 Unreserve I2C.vi" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/myRIO v1.0/I2C/vis/myRIO v1.0 Unreserve I2C.vi"/>
<Item Name="myRIO v1.0 Wait for RDY.vi" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/myRIO v1.0/System/vis/myRIO v1.0 Wait for RDY.vi"/>
<Item Name="myRIO v1.0 Write I2C.vi" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/myRIO v1.0/I2C/vis/myRIO v1.0 Write I2C.vi"/>
<Item Name="myRIO v1.1 FPGA.lvbitx" Type="Document" URL="/&lt;vilib&gt;/myRIO/FPGA/bitfiles/myRIO v1.1 FPGA.lvbitx"/>
@ -290,11 +333,24 @@ AddOutputFilter chunkFilter
<Item Name="roboRIO AI IRQ FPGA Reference.ctl" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/roboRIO v1.0/IRQ/typedefs/roboRIO AI IRQ FPGA Reference.ctl"/>
<Item Name="roboRIO DI IRQ FPGA Reference.ctl" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/roboRIO v1.0/IRQ/typedefs/roboRIO DI IRQ FPGA Reference.ctl"/>
<Item Name="roboRIO I2C Channels FPGA Reference.ctl" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/roboRIO v1.0/I2C/typedefs/roboRIO I2C Channels FPGA Reference.ctl"/>
<Item Name="roboRIO IO Config FPGA Reference.ctl" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/roboRIO v1.0/Resource Manager/typedefs/roboRIO IO Config FPGA Reference.ctl"/>
<Item Name="roboRIO v1.0 Build Mutex Name.vi" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/roboRIO v1.0/Resource Manager/vis/roboRIO v1.0 Build Mutex Name.vi"/>
<Item Name="roboRIO v1.0 Build MUX Configuration I2C.vi" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/roboRIO v1.0/I2C/vis/roboRIO v1.0 Build MUX Configuration I2C.vi"/>
<Item Name="roboRIO v1.0 CAN Interface Manager.vi" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/roboRIO v1.0/CAN/vis/roboRIO v1.0 CAN Interface Manager.vi"/>
<Item Name="roboRIO v1.0 Channel Reservation Info.ctl" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/roboRIO v1.0/Resource Manager/typedefs/roboRIO v1.0 Channel Reservation Info.ctl"/>
<Item Name="roboRIO v1.0 Channel Reservation List.ctl" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/roboRIO v1.0/Resource Manager/typedefs/roboRIO v1.0 Channel Reservation List.ctl"/>
<Item Name="roboRIO v1.0 Clear All IRQ.vi" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/roboRIO v1.0/IRQ/vis/roboRIO v1.0 Clear All IRQ.vi"/>
<Item Name="roboRIO v1.0 Close I2C.vi" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/roboRIO v1.0/I2C/vis/roboRIO v1.0 Close I2C.vi"/>
<Item Name="roboRIO v1.0 Configure I2C.vi" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/roboRIO v1.0/I2C/vis/roboRIO v1.0 Configure I2C.vi"/>
<Item Name="roboRIO v1.0 Configure IO.vi" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/roboRIO v1.0/Resource Manager/vis/roboRIO v1.0 Configure IO.vi"/>
<Item Name="roboRIO v1.0 Connector List.ctl" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/roboRIO v1.0/Resource Manager/typedefs/roboRIO v1.0 Connector List.ctl"/>
<Item Name="roboRIO v1.0 Create Configuration List.vi" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/roboRIO v1.0/Resource Manager/vis/roboRIO v1.0 Create Configuration List.vi"/>
<Item Name="roboRIO v1.0 ISR Agent.vi" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/roboRIO v1.0/IRQ/vis/roboRIO v1.0 ISR Agent.vi"/>
<Item Name="roboRIO v1.0 Read I2C.vi" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/roboRIO v1.0/I2C/vis/roboRIO v1.0 Read I2C.vi"/>
<Item Name="roboRIO v1.0 Shutdown I2C.vi" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/roboRIO v1.0/I2C/vis/roboRIO v1.0 Shutdown I2C.vi"/>
<Item Name="roboRIO v1.0 Unreserve Channel List.vi" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/roboRIO v1.0/Resource Manager/vis/roboRIO v1.0 Unreserve Channel List.vi"/>
<Item Name="roboRIO v1.0 Unreserve Channel.vi" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/roboRIO v1.0/Resource Manager/vis/roboRIO v1.0 Unreserve Channel.vi"/>
<Item Name="roboRIO v1.0 Unreserve I2C.vi" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/roboRIO v1.0/I2C/vis/roboRIO v1.0 Unreserve I2C.vi"/>
<Item Name="roboRIO v1.0 Write I2C.vi" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/roboRIO v1.0/I2C/vis/roboRIO v1.0 Write I2C.vi"/>
<Item Name="System FPGA Reference.ctl" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/myRIO v1.0/System/typedefs/System FPGA Reference.ctl"/>
<Item Name="Timer IRQ Array.ctl" Type="VI" URL="/&lt;vilib&gt;/myRIO/Common/Instrument Driver Framework/myRIO v1.0/IRQ/typedefs/Timer IRQ Array.ctl"/>